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Commit 11ddb2de authored by Fernando Herrero's avatar Fernando Herrero
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README.md
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# Description
This ROS package contains the launch files to set up and configure the Pioneer3
platform from ActiveMedia in ROS. The two platforms available at IRI
This ROS package contains the launch files to set up and configure the Pioneer3 platform from ActiveMedia in ROS.
The two platforms available at IRI
([ana](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana) and
[helena](https://gitlab.iri.upc.edu/labrobotica/ros/robots/helena)) have been
upgraded with state of the art embedded computers and Lithium batteries.
......@@ -20,11 +20,6 @@ instructions on section 1 to properly set up the node.
* [iri_pionner3_description](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/Pioneer3/iri_pioneer3_description)
To use the robot in the Gazebo simulator, the following dependencies will also
be necessary:
* [iri_skid_steering_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/iri_skid_steering_gazebo)
# Install
This package, as well as all IRI dependencies, can be installed by cloning the
......@@ -76,16 +71,16 @@ sudo service udev restart
# How to use it
The *pioneer3.launch* launch file is intended to be included in any launch file
The *bringup.launch* launch file is intended to be included in any launch file
that needs the Pioneer3 platform. It has the following arguments:
* ns: (default: robot) name given to the rosaria node.
* config_file: (default: iri_pioneer3_bringup/config/pioneer3.yaml) a
configuration file with all the parameters supported by the
[rosaria ROS driver](http://wiki.ros.org/ROSARIA). See its documentation for a
detailed description of all the parameters.
* node_name: (default: pioneer3) name given to the rosaria node.
* output: (default: log) the desired output for all nodes. Possible values for
this parameter are log and screen.
......@@ -100,7 +95,6 @@ of all topics and services provided by this node. Except for the sensor topics
(sonar, sonar_pointcloud2 and bumpers) that are remapped to the
<node_name>/sensors namespace, all other topics and services use the default name.
To remap the topics and services of the driver, use a global remap command.
Also, an example launch file is provided (pioneer3_test.launch).
To remap topics and services, use a global remap command.
The *test.launch* launch file shows an example of use, including bringup, description and rviz.
\ No newline at end of file
launch/bringup.launch
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......@@ -2,7 +2,7 @@
<!-- -->
<launch>
<arg name="ns" default="pioneer3" />
<arg name="ns" default="robot" />
<arg name="config_file" default="$(find iri_pioneer3_bringup)/config/params.yaml" />
<arg name="output" default="log" />
<arg name="launch_prefix" default="" />
......
package.xml
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......@@ -2,7 +2,7 @@
<package format="2">
<name>iri_pioneer3_bringup</name>
<version>0.0.0</version>
<description>The iri_pioneer3_bringup package</description>
<description>Set of launch files to run and configure the Pioneer3 platform.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
......@@ -49,6 +49,9 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>rosaria</exec_depend>
<exec_depend>iri_pioneer3_description</exec_depend>
<exec_depend>rviz</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
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rviz/pioneer3.rviz deleted 100644 → 0
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Odometry1/Shape1
Splitter Ratio: 0.5
Tree Height: 633
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
pioneer3/base_footprint:
Value: true
pioneer3/base_link:
Value: true
pioneer3/front_left_axle:
Value: true
pioneer3/front_left_hub:
Value: true
pioneer3/front_left_wheel:
Value: true
pioneer3/front_right_axle:
Value: true
pioneer3/front_right_hub:
Value: true
pioneer3/front_right_wheel:
Value: true
pioneer3/front_sonar:
Value: true
pioneer3/odom:
Value: true
pioneer3/rear_left_axle:
Value: true
pioneer3/rear_left_hub:
Value: true
pioneer3/rear_left_wheel:
Value: true
pioneer3/rear_right_axle:
Value: true
pioneer3/rear_right_hub:
Value: true
pioneer3/rear_right_wheel:
Value: true
pioneer3/rear_sonar:
Value: true
pioneer3/top_plate:
Value: true
Marker Scale: 0.25
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
pioneer3/odom:
pioneer3/base_link:
pioneer3/base_footprint:
{}
pioneer3/front_left_axle:
pioneer3/front_left_hub:
pioneer3/front_left_wheel:
{}
pioneer3/front_right_axle:
pioneer3/front_right_hub:
pioneer3/front_right_wheel:
{}
pioneer3/front_sonar:
{}
pioneer3/rear_left_axle:
pioneer3/rear_left_hub:
pioneer3/rear_left_wheel:
{}
pioneer3/rear_right_axle:
pioneer3/rear_right_hub:
pioneer3/rear_right_wheel:
{}
pioneer3/rear_sonar:
{}
pioneer3/top_plate:
{}
Update Interval: 0
Value: true
- Alpha: 0.899999976
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_axle:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_hub:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_axle:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_hub:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_sonar:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_axle:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_hub:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_axle:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_hub:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_sonar:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
top_plate:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: pioneer3/robot_description
TF Prefix: pioneer3
Update Interval: 0
Value: true
Visual Enabled: true
- Angle Tolerance: 0.5
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: true
Keep: 100
Name: Odometry
Position Tolerance: 0.5
Shape:
Alpha: 0.899999976
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 25; 0
Head Length: 0.200000003
Head Radius: 0.100000001
Shaft Length: 0.5
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /pioneer3/odom
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: pioneer3/odom
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 10
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.785398185
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.785398185
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000308fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000308000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000308fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000308000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003400000030800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1200
X: 65
Y: 24
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