[ros-users] Pioneer 3dx in ROS

Tucker Hermans thermans at cc.gatech.edu
Wed Apr 21 23:57:33 UTC 2010

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:

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.


On Wed, Apr 21, 2010 at 7:49 PM, Dan Lazewatsky
<lazewatskyd at 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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