Hi Dan,

I send the MotorState command of 4 and have no problems.

I have a teleop keyboard port which I use for communicating with the p3dx
that you can find here:
github.com/trhermans/AffLearning/tree/master/pioneer_control/

Note: the launch file is setup for a p3dx with a PTZ connected to an onboard
computer and uses the probe camera driver to get the video stream.

<http://github.com/trhermans/AffLearning/tree/master/pioneer_control/>I have
only been testing the changes to the p2os package on a p3dx with an onboard
computer, I don't think this should have any issues, but it could. Let me
know if the keyboard operation gives the same problems you have now and I'll
try and help debug it.

-Tucker

On Wed, Apr 21, 2010 at 7:49 PM, Dan Lazewatsky
<lazewatskyd@cse.wustl.edu>wrote:

> Hi all -
> I know this has been discussed here a bit, but not in much detail.
> We have a Pioneer3dx that we'd like to get up and running again. I
> downloaded and compiled the p2os package which seems to be able to
> successfully connect and communicate with the robot using a serial to
> USB adapter. However, I'm having trouble getting the motors to do
> anything sensible. The robot's motor self-test looks like it works fine,
> but sending cmd_vel, all I can get is extremely slow, jerky movement
> forward or backwards (no turning). I enabled the motors with:
>
> rostopic pub cmd_motor_state -1 p2os/MotorState 1 (I also tried 4
> instead of 1 which was mentioned in a previous discussion)
>
> This feels like a communication problem between the motor commands p2os
> is sending and the robot, but I don't know what's going on. Any ideas?
>
> Thanks,
> -Dan
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