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.

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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