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Setting up the P2OS Environment

Description: This tutorial will go over all the necessary steps to install and use P2OS-Purdue.

Tutorial Level: BEGINNER

Next Tutorial: GMapping With P2OS Robots

New In Hydro and Groovy

In ROS Hydro you can run this command to install P2OS (if you use Ubuntu).

sudo apt-get install ros-hydro-p2os-driver ros-hydro-p2os-teleop ros-hydro-p2os-launch ros-hydro-p2os-urdf


sudo apt-get install ros-groovy-p2os-driver ros-groovy-p2os-teleop ros-groovy-p2os-launch ros-groovy-p2os-urdf

Setting Up the ROS Environment

If you already have a working ROS environment, it is safe to disregard this step. Just change to your workspace and clone the git repository as seen below.

Firstly, you will need the pr2-controllers package. On Ubuntu, you can just run this command:

sudo apt-get install ros-groovy-pr2-controllers ros-groovy-joystick-drivers

Now we set up the environment (if you already have one, you only need to do the last 3 lines).

mkdir -p ~/ros_ws/src
cd ~/ros_ws/src
cd ~/ros_ws/
source devel/setup.bash
echo "source ~/ros_ws/devel/setup.bash" >> ~/.bashrc
cd src && git clone http://www.hmt-git.com/p2os.git
source ../devel/setup.bash
cd ~/ros_ws

Creating the p2osTutorials Package

Now that we have a workspace established, we can create a package to hold our code.

roscreate-pkg p2osTutorial roscpp geometry_msgs nav_msgs
source ~/.bashrc

The above code generates the package with the necessary dependencies for these tutorials, then refreshes rospkg.

Enabling the P2OS Motors

There are three ways of enabling the motors:

run a node from the vanderbilt-ros-pkg

To use the vanderbilt p2os_enableMotor package, do the following:

    roscd && cd ../src
    git clone http://www.hmt-git.com/allenh1/vanderbilt-ros-pkg.git
    source ../devel/setup.bash
    rosmake p2os_enableMotor
    rosrun p2os_enableMotor enableMotor


For hydro you have to download it sepratrly

just use rostopic

rostopic pub /cmd_motor_state p2os_driver/MotorState 1

  <node name="rostopic" pkg="rostopic" type="rostopic" args="pub -1 /cmd_motor_state p2os_driver/MotorState 1"/>
or with a launch file

That should make the pioneer movable. The motors are not enabled by default. That's it! All done.

Wiki: p2os-vanderbilt/Tutorials/Setup (last edited 2016-06-28 19:50:02 by HunterAllen)