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How to teleop pioneer3?

asked 2013-10-17 18:44:46 -0600

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Hi ROS-users,

I have some..

Hardware: Pioneer3, SICK-lms200, laptop, 2 usb-serial cables

Software: ros-hydro-desktop-full on laptop running ubuntu-12.04. sicktoolbox(works fine)

Objectives: 1. To control robot by laptop keyboard and log laser data. 2. To build map from that logged data using slam_gmapping.(I know how to achieve objective2)

I can connect my robot and sick laser using rosaria.

Can anyone tell me how can i move my robot using keyboard?

Thanks in advance

Hossain

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answered 2013-10-23 03:04:00 -0600

I don't see any sort of launch or nodes in the rosaria stack that offer keyboard teleop.

Rosaria does subscribes to the "cmd_vel" topic, so if you want you can write a simple node that listens for keyboard input and translates it into geometry_msgs/Twist messages (http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html).

I personally have been using the p2os stack for a while and it also lacks such a node. I have been getting by using the erratic robot stack and its keyboard teleop launch file. You can certainly look there to find out what needs to happen in your own version or simply use it as is.

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Thanks. i tried with p2os. failed:) Can you be more specific what i should follow? or can u please share what you used?

cognitiveRobot gravatar imagecognitiveRobot ( 2013-10-23 03:09:43 -0600 )edit

I'm suggesting that you check out the keyboard teleop in the erratic stack as a model to follow.

skiesel gravatar imageskiesel ( 2013-10-23 03:12:04 -0600 )edit

$ sudo apt-get install ros-hydro-erratic-robot [sudo] password for albot1: Reading package lists... Done Building dependency tree Reading state information... Done E: Unable to locate package ros-hydro-erratic-robot should i download and make their package in ws?

cognitiveRobot gravatar imagecognitiveRobot ( 2013-10-23 03:22:44 -0600 )edit

Sorry, to be more clear, I would recommend that you check out this file as an example of how to write your own keyboard teleop node: https://github.com/arebgun/erratic_robot/blob/master/erratic_teleop/src/keyboard.cpp

skiesel gravatar imageskiesel ( 2013-10-23 04:30:23 -0600 )edit

Thanks. That link isn't active anymore. i guess https://github.com/arebgun/erratic_robot/blob/master/erratic_teleop/src/keyboard.cpp is same. so if i build this cpp file somehow and then run with $roscore and $ rosrun rosaria RosAria (to connect my robot) i should be able to control my robot, right? or do i need anything else running?

cognitiveRobot gravatar imagecognitiveRobot ( 2013-10-23 04:43:55 -0600 )edit

Sorry that's frustrating. Try this: https://github.com/arebgun/erratic_robot/ Then click on "erratic_teleop", then click on "src" then "keyboard.cpp". Rosaria listens on the cmd_vel topic. You need something that translates keyboard input into a message of this type (geometry_msgs/Twist).

skiesel gravatar imageskiesel ( 2013-10-23 04:54:04 -0600 )edit
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answered 2013-10-24 20:03:01 -0600

cognitiveRobot gravatar image

updated 2013-10-25 02:23:56 -0600

hurry!!!!!!! at last i managed to teleop my sweet as robot(Pioneer3) by keyboard........

Package Needed:

$roscore

$rosrun rosaria RosAria

$rosrun teleop(it's a modified version of erratic_robot's teleop_robot. needed to update publishing topic from "cmd_vel" to "/RosAria/cmd_vel" at line 67)

thanks Dereck, skiesel, Allen and ros

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Great, I'm glad you got it working

skiesel gravatar imageskiesel ( 2013-10-24 23:54:32 -0600 )edit

i am using USARSim with ROS-furete. but not able to move my P3AT using my keyboard.

ROS: @Ubuntu 12.04 LTS USARSim: @Windows

sumant gravatar imagesumant ( 2014-10-06 13:32:00 -0600 )edit

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Asked: 2013-10-17 18:44:46 -0600

Seen: 1,040 times

Last updated: Oct 25 '13