SIG: Pioneer Mobile Robots

Members:

• Dereck Wonnacott (SIG Coordinator)

• Srećko Jurić-Kavelj (ROSARIA maintainer)

• Reed Hedges Adept MobileRobots

• Aris Synodinos Robotics Group - University of Patras

• George Brindeiro (Automation and Robotics Laboratory, University of Brasilia)
• Martin Peris
• Mauricio Oliveto
• Zdeněk Materna
• Gustavo Adolfo Velasco Hernández
• David Portugal
• João Santos
• Andre Barcelos
• Charles Lesire-Cabaniols
• Ricky Li

• Anas Alhashimi

Contact:

• If anyone is interested participating in this SIG, add your name to the above list and say hi on the mailing list: https://groups.google.com/forum/?fromgroups#!forum/ros-sig-pioneer - ros-sig-pioneer@googlegroups.com The mailing list can be used for general questions on using ROS on Pioneer and all other AMR robots, as well as specific discussion on improving ROSARIA, p2os, and other aspects of Pioneer robot support.

General

TODO

• Create and gather in one place (git repository or similar)
  • URDF models,
  • launch files for various robots and configurations,
  • 3d models and configurations for Gazebo.
  • useful RViz or rqt configurations?

• Test more sensors and other devices, and update list at bottom of http://wiki.ros.org/Robots/Pioneer

ROSARIA

• ROSARIA is a ROS package that internally uses libAria to control a number of supported robots. It works well, is actively maintained, the feature list is growing, and the ROS wrapper is concise.

Status

As of October 2014

• It builds and runs in Groovy in rosbuild, and Hyrdro and Indigo with catkin.
• Can be used with the Pioneer 3AT demo package below
• Tested with some robots (mostly Pioneer 3 AT, DX, and Pioneer LX) and devices (mostly LMS200, S300, sonar, bumpers)

TODO

• See https://code.google.com/p/amor-ros-pkg/issues/list

• Better logging in ROSARIA (redirect ARIA log to ROS log)
• Check and update for compatibility with REPs and other conventions for mobile robots.

p2os

p2os is an alternative to ROSARIA. It is completely self-contained and independent of external dependencies such as libAria. (It was based on the original Player/stage driver.)

The original p2os (USC) is not maintained for groovy, but p2os-vanderbilt is a version that has been updated for groovy. See below for notes on that.

Status

• Converted to Catkin
• Fixed numerous bugs
• Added tf_refix support
• Submitted changes to upstream package maintainer
• In the meantime, a working package can be found at Dereck's github repo:

  https://github.com/dawonn/ros-p2os-driver

p2os-vanderbilt

See p2os-vanderbilt.

Working Demos

• Dereck has a nice package put together that can use p2os, rosaria, or Gazebo to control a real or simulated Pioneer 3AT.

  https://github.com/dawonn/ros-pioneer3at

  Draft Documentation Other Demo Ideas:

  • RGBD-SLAM Mapping

Status

• Tested on a real robot with ROSARIA and P2OS
• Tested in Gazebo

TODO

• Improve 2D Navigation
• create RGBD-SLAM Mapping demo
• Move documentation to wiki
• Add package to Groovy Indexer (Blocked by Rosaria indexer listing)

p2os-dashboard

• p2os-dashboard is dead as of Groovy, it really needs to be redone from scratch. I think we need to invest time into making an rqt plugin replacement. {Any Volunteers?}

Gazebo

• The Pioneer 3AT is now usable in Gazebo as part of the pioneer3at demo package:

• https://github.com/dawonn/ros-pioneer3at

  Draft Documentation

Publicity

• Awaiting completion of the above tasks