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


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: geometry_msgs/Twist)

  2. /gripper_control (type: p2os_driver/GripperState)

  3. /cmd_motor_state (type: p2os_driver/MotorState)

  4. /ptz_control (type: p2os_driver/PTZState)

Published topics:

  1. /sonar (type: p2os_driver/SonarArray)

  2. /pose (type: nav_msgs.Odometry)

  3. /gripper_state (type: p2os_driver/GripperState)

  4. /motor_state (type: p2os_driver/MotorState)

  5. /aio (type: p2os_driver/AIO)

  6. /ptz_state (type: p2os_driver/PTZState)

  7. /tf (tf/tfMessage)

  8. /battery_state (type: p2os_driver/BatteryState)

  9. /dio (type: p2os_driver/DIO)

Wiki: p2os_driver (last edited 2012-09-29 17:21:54 by JonathanBohren)