Pioneer Robots

asked 2012-06-06 06:25:56 -0600

3045 ●62 ●89 ●110 http://allen-software.com/

updated 2012-06-07 04:48:17 -0600

Hello all,

I have a pioneer-3dx robot. It has ROS diamondback installed with Ubuntu 11.04. Would anyone be willing to help me get the p2os_driver to work? It fails to set up the p2os board. The board is the original setup and the serial should be /dev/ttyS0, but it won't setup. What do I need to do to get it working?

Thanks, -Hunter A.

First, I start roscore:

allenh1@muri-pc7:~/ros/unstable/p2os_driver$ roscore

In a new terminal, I then start the node:

allenh1@muri-pc7:~/ros/unstable/p2os_driver$ ./p2os
[ INFO] [1339007302.017190905]: using serial port: [/dev/ttyUSB0]
[ INFO] [1339007302.048548689]: P2OS connection opening serial port /dev/ttyUSB0...
[ERROR] [1339007302.048644466]: P2OS::Setup():open():
[ERROR] [1339007302.048728305]: p2os setup failed...

I want to make sure it's working properly before we get a laptop on it, so here's my current setup.

Here's my setup:

New errors... Progress...

I gave write access to the USB with this command:

allenh1@muri-pc7:~$ sudo chmod 777 /dev/ttyUSB0

New Output:

Firstly, I'm pretty special. I forgot to plug the robot it; however, upon plugging it in, the old errors were reproduced. So, I'd say that's pretty conclusive evidence that the robot is at least attempting to communicate with the computer.

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answered 2012-06-06 06:53:45 -0600

karthik

2831 ●55 ●68 ●96

updated 2012-06-06 23:43:53 -0600

Hi, If you are connecting your laptop to your robot with usb port then. Please go through this answer. You should be able to resolve the issue. Else be specific on the error you are getting.

Thanks

I would suggest you to follow this tutorial carefully. Since you are using only one laptop on the robot, you can ignore the networking part of it. Please post the errors that you are getting along with their corresponding ros commands.

Ok I see your pic here. It looks fine. Just a small guess on the rights of the /dev/ttyUSB0. Make sure you have given both read and write rights to that port before you run the p2os. Follow the instructions and run in the following fashion.

roscore
rosrun p2os_dashboard p2os_dashboard

Please check the dashboard and take a screenshot of the same as well.

rosrun p2os_driver p2os

If you are just planning to check if the robot is fine and working you may go with the ROSARIA package and test it. It might be simpler than p2os. But if you are planning start your work on something then p2os is suggested for pioneer bots. If the above process doesn't work please post the pic of the screenshot taken in the dashboard stage.

Thanks, Karthik

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How are you connecting the base? Do I need a cable? Does the local network communication not suffice?

allenh1 ( 2012-06-06 07:52:14 -0600 )edit

Place the laptop on the robot and connect the seriel (robot) to usb (laptop) converter.

karthik ( 2012-06-06 08:13:49 -0600 )edit

Do I need to run anything on the robot? It's a fresh install. I've got the serial to usb plugged into the external serial. Is that right?

allenh1 ( 2012-06-06 08:20:49 -0600 )edit

yes... ....

karthik ( 2012-06-06 08:25:52 -0600 )edit

on the host I run: p2os _port:=/dev/ttyUSB0 and roscore. On the robot, I run nothing.

allenh1 ( 2012-06-06 08:27:25 -0600 )edit

allen: You have to be clear. I get a feeling that you have a laptop on the robot and a workstation which is connected via wifi to the laptop on the robot. Am i right?

karthik ( 2012-06-06 08:30:24 -0600 )edit

No... I have a physical connection with a serial to usb. Would you mind posting a picture of your setup?

allenh1 ( 2012-06-06 08:31:22 -0600 )edit

I am not in the lab right now. I would require more info now. So i understand you have connected ur laptop to the robot using the converter. Please give me the details of the commands you gave after this step in the laptop. I mean the ros commands. Please post it by editing your question.

karthik ( 2012-06-06 08:34:29 -0600 )edit

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answered 2012-06-06 19:05:51 -0600

viking

46 ●2 ●2 ●8

If you familir with aria, you can use ROSARIA to communicate with Pioneer also, which is what I'm doing now.

I'm using P3AT, and connect a laptop through a serial to usb cable. I have written a node to communicate with robot, get and publish odometry & laser information. Now the navigation stack works well on it.

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Do you know how to setup up ROSAIRA to use TCP instead of the serial port? I have an AmigoBot with a serial-to-ethernet bridge.

Eisenhorn ( 2012-10-19 02:19:00 -0600 )edit

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answered 2012-06-07 04:55:21 -0600

allenh1

3045 ●62 ●89 ●110 http://allen-software.com/

I did it! It works now! The only thing I had to do to fix the issue was to use a recursive permissions change:

Change permissions:

allenh1@muri-pc7:~/Downloads$ sudo chmod 777 -R /dev/ttyUSB0

Run the p2os_driver:

allenh1@muri-pc7:~/Downloads$ rosrun p2os_driver p2os 
[ INFO] [1339080752.700066535]: using serial port: [/dev/ttyUSB0]
[ INFO] [1339080752.716311926]: P2OS connection opening serial port /dev/ttyUSB0...
[ INFO] [1339080753.118958632]: SYNC0
[ INFO] [1339080753.319249408]: turning off NONBLOCK mode...
[ INFO] [1339080753.519563222]: SYNC1
[ INFO] [1339080753.920032541]: SYNC2
[ INFO] [1339080754.520631021]: Done.
   Connected to Julie_2, a Pioneer P3DX
[ INFO] [1339080756.923499420]: resetting raw positions