Hi Vinay, I tried and tested the new p2os stack (p2os-0.1.0) avaiable now, and It works fine for me. As I wrote you before, if you are interested to get sensor's data, you just need to subscribe at the topic called "sonar" and set the param "use_sonar" true (false as default). In order to do that, just write a .launch file where you will set this parameter, like: Also there are other parameters (if you need them). The sonar data are avaiable as sonarArrray.msg defined in p2os_driver package. In the past I wrote by myself a message similar to that one to get sonar's data. The odometry is avaiable into tf stream (the driver publish transform from "odom" to "base_link"), it's your task add more frames for your sensors or other devices (if you have it). To setup everything, I spent a couple of hours, so I think that you couldn't find strange problems! Looking in p2os_launch package to have nice example of .launch file to setup your robot. Now I installed also these drivers, so If you have a specific problem let's me know that I'll try to figure out. Greetings, Enea -- View this message in context: http://ros-users.122217.n3.nabble.com/Re-Basic-navigation-for-pioneer-robot-using-p2os-tp971765p972642.html Sent from the ROS-Users mailing list archive at Nabble.com. ------------------------------------------------------------------------------ This SF.net email is sponsored by Sprint What will you do first with EVO, the first 4G phone? Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first _______________________________________________ ros-users mailing list ros-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/ros-users