## repository: usc-ros-pkg
<<PackageHeader(p2os_driver)>>
<<TOC(4)>>

== Overview ==
p2os_driver provides a driver for robots using the Pioneer P2OS/ARCOS interface in the form of a ROS node.

== Documentation ==

p2os_driver contains p2os, the main node controlling the pioneer base.

Parameters used:
 * port (string, default="/dev/ttyS0")
 * use_sonar (bool, default=false): is used to decide whether to use sonar or not.
 * pulse (float32): is used to control the frequency of checking commands and disabling the motors. (set = 1.0 to mute the annoying beep)

Subscribed topics:
 1. /cmd_vel (type: [[http://ros.org/doc/diamondback/api/geometry_msgs/html/msg/Twist.html|geometry_msgs/Twist]])
 2. /gripper_control (type: [[http://ros.org/doc/diamondback/api/p2os_driver/html/msg/GripperState.html|p2os_driver/GripperState]])
 3. /cmd_motor_state (type: [[http://ros.org/doc/diamondback/api/p2os_driver/html/msg/MotorState.html|p2os_driver/MotorState]])
 4. /ptz_control (type: [[http://ros.org/doc/diamondback/api/p2os_driver/html/msg/PTZState.html|p2os_driver/PTZState]])

Published topics:
 1. /sonar (type: [[http://ros.org/doc/diamondback/api/p2os_driver/html/msg/SonarArray.html|p2os_driver/SonarArray]])
 2. /pose (type: [[http://ros.org/doc/diamondback/api/nav_msgs/html/msg/Odometry.html|nav_msgs.Odometry]])
 3. /gripper_state (type: [[http://ros.org/doc/diamondback/api/p2os_driver/html/msg/GripperState.html|p2os_driver/GripperState]])
 4. /motor_state (type: [[http://ros.org/doc/diamondback/api/p2os_driver/html/msg/MotorState.html|p2os_driver/MotorState]])
 5. /aio (type: [[http://ros.org/doc/diamondback/api/p2os_driver/html/msg/AIO.html|p2os_driver/AIO]])
 6. /ptz_state (type: [[http://ros.org/doc/diamondback/api/p2os_driver/html/msg/PTZState.html|p2os_driver/PTZState]])
 7. /tf ([[http://ros.org/doc/diamondback/api/tf/html/msg/tfMessage.html|tf/tfMessage]])
 8. /battery_state (type: [[http://ros.org/doc/diamondback/api/p2os_driver/html/msg/BatteryState.html|p2os_driver/BatteryState]])
 9. /dio (type: [[http://ros.org/doc/diamondback/api/p2os_driver/html/msg/DIO.html|p2os_driver/DIO]])


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