[ros-users] Pioneer 3dx in ROS

[Dan Lazewatsky]

Hi Tucker,
I think that should be enough to get me going.

Thanks!
-Dan

On 4/21/10 6:57 PM, Tucker Hermans wrote:
> 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/ 
> <http://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 at cse.wustl.edu <mailto: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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