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Setting Up The p2os With The an On-Board USB port
Description: This tutorial provides instructions on setting up a pioneer robot with the p2os driver for its on-board computer.Keywords: Pioneer
Tutorial Level: BEGINNER
Contents
Requirements
Hardware
An ActivMedia Pioneer DX or AT
- A USB port inside the pioneer
- A Serial to USB cable
Software
- ROS Diamondback
Assumptions
- The Pioneer base is in good working condition including proper odometry, inflated tires, etc.
- The on-board computer [pioneer] has a USB port
- Pioneer has ROS installed
- Pioneer has Ubuntu installed
Setting up ROS
See installing ROS for instructions on how to install ROS.
Installing the p2os driver
sudo apt-get install ros-diamondback-p2os
Hardware Setup
Take the serial to USB cable and plug it in the serial port of the p2os board. Then take the USB end and plug it into the motherboard.
Now we need to give the board read and write access to the USB port:
sudo chmod 777 -R /dev/ttyUSB0
Testing
Now test your setup. Run the following command: rosrun p2os_driver p2os
If all is well, the robot will beep and turn on the board. On a host-machine, launch the p2os Dashboard:
rosrun p2os_dashboard p2os_dashboard
If your setup is working, you will have nothing but green and a grey wrench.
