[ros-users] Pioneer3

[David Feil-Seifer]

Pablo-

Right off the top of my head, I'm thinking that the problem may be
with pulse. The way the the pioneer works is that if no message is
sent to the controller for 2s, the controller assumes that it has lost
its connection and shuts down. On most pioneers, this is not enabled
by default, however on some, including possible yours, it is. To
remedy this, we send a pulse message (just a blank message really) to
the pioneer every 2s. You can set the driver to do this by setting the
pulse parameter to 1 (right now it is -1). That will force the driver
to send the pulse every 1 second.

Good luck. And let me know if that is not in fact your problem.

-Dave

On Fri, Aug 27, 2010 at 9:47 AM, Pablo Hevia-Koch <pablo at hevia-koch.cl> wrote:
> David
>
> Thanks for your help.
>
> I ran into a little trouble while connecting to my Pioneer 3 AT. Using p2os
> stack.
>
> I am using a USB-to-serial adaptor to connect to the Pioneer, in a Ubuntu
> machine, the same one running roscore. I changed the source code of
> p2os_driver to use ttyUSB0 instead of ttyS0 (changed the define).
>
> The main problem is that when I start the p2os_driver, i connect to the
> pioneer succesfully, but once the driver gets to:
>
> Connected to PIONEER NAME, a Pioneer p3at-sh
> [ INFO] [1282927100.884548427]: resetting raw positions
>
> The robot starts beeping, with the same sound that happens when a connection
> is lost. Even though I can read the battery level. Nothing happens when I
> press the motors enable button on the dashboard, and I cannot teleoperate
> the robot using a joystick.
>
> Any insight?
>
> PS: i can connect to the robot using the same adapter via Carmen or Player.
>
>
>
> Keep Creating,
>
> Pablo
>
>
>
>
> On 21 August 2010 13:43, David Feil-Seifer <david.feilseifer at gmail.com>
> wrote:
>>
>> Pablo-
>>
>> I cannot vouch for the ARIA approach, however, as the developer of the
>> p2os stack, I can say that we have launch files for doing SLAM with
>> the gmapping package and for using the move_base node as part of the
>> nav stack.
>>
>> There are some pretty good instructions at:
>>
>> http://www.ros.org/wiki/p2os/Tutorials/Getting%20Started%20with%20p2os
>>
>> and please email the ros-users list if you are having issues and I
>> will be happy to help work them through with you.
>>
>> -Dave
>>
>> On Sat, Aug 21, 2010 at 10:33 AM, Pablo Hevia-Koch <pablo at hevia-koch.cl>
>> wrote:
>> > Hello Everyone!
>> >
>> > I'm starting to use ROS, and I was wondering which way is the best to
>> > use a
>> > Pioneer 3 AT + Hokuyo URG 04LX laser. I saw that there are 2 main
>> > approaches, one beeing using p2os and the other beeing the amor-ros-pkg
>> > which uses ARIA. Unfortunately, the ARIA amor package has no
>> > documentation,
>> > and i've read that there are some problems using p2os.
>> >
>> > Anyone has a tip for me?
>> >
>> > Thanks a lot.
>> >
>> > Keep Creating,
>> >
>> > Pablo
>> >
>> >
>> >
>> > _______________________________________________
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>> > https://code.ros.org/mailman/listinfo/ros-users
>> >
>> >
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