[ros-users] Basic navigation for pioneer robot using p2os

nitinDhiman nitinkdhiman at gmail.com
Mon Jul 19 06:21:08 UTC 2010

Hi Vinay,
I am also trying to setup pioneer 3dx base. I have boxturtle installed using
Ubuntu debs released on 18th June. 
It is connected to serial port. As a nettwork setting, I am configuring base
station and pioneer both on local host 

Following steps mentioned in tutorial
http://www.ros.org/wiki/p2os/Tutorials/Getting%20Started%20with%20p2os and
after successful compilation, following variables are set.

export ROS_MASTER_URI=http://localhost:11311

I am getting following errors on pr2os_dashboard run: 

nitin at tangri:/opt/ros/boxturtle$ rosrun p2os_dashboard p2os_dashboard
Traceback (most recent call last):
line 50, in <module>
    import p2os_dashboard
line 1, in <module>
    from p2os_frame import *
line 58, in <module>
    import rxtools.cppwidgets as rxtools
  File "/opt/ros/boxturtle/ros/tools/rxtools/src/rxtools/cppwidgets.py",
line 34, in <module>
    from rxtoolscpp import *
  File "/opt/ros/boxturtle/ros/tools/rxtools/lib/rxtoolscpp.py", line 83, in
SystemError: UnpackTuple() argument list is not a tuple

I am able to communicate with 3dx using pr2os_driver which gives following
nitin at tangri:/opt/ros/boxturtle$ rosrun p2os_driver p2os
[ INFO] 1279520026.304227000: using serial port: [/dev/ttyS0]
[ INFO] 1279520026.329203000: P2OS connection opening serial port
[ INFO] 1279520026.729487000: SYNC0
[ INFO] 1279520026.929602000: turning off NONBLOCK mode...
[ INFO] 1279520027.129719000: SYNC1
[ INFO] 1279520027.529957000: SYNC2
[ INFO] 1279520028.130194000: Done.
   Connected to robotics_3655, a Pioneer p3dx-sh
[ INFO] 1279520030.531586000: resetting raw positions
[ WARN] 1279520083.660301000: Turn rate demand threshholded!
[ WARN] 1279520083.960596000: Turn rate demand threshholded!
[ WARN] 1279520084.859870000: Turn rate demand threshholded!
[ WARN] 1279520085.459867000: Turn rate demand threshholded!
[ WARN] 1279520085.859866000: Turn rate demand threshholded!
[ WARN] 1279520086.159867000: Turn rate demand threshholded!
[ WARN] 1279520088.959880000: Turn rate demand threshholded!

I am not able to move pioneer using following command:
nitin at tangri:/opt/ros/boxturtle/openCodes/usc-ros-pkg/p2os$  rosrun
teleop_base teleop_base_keyboard base_controller/command:=cmd_vel

It asks for turn rate and speed demand thresholding. Is it normal?  Or it is
caused by absence of dashboarded process.

thanks & regards

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