p3dx_navigation

ROS package navigation to Pioneer P3-DX

Install

• Clone the package folder

    $ cd ~/catkin_ws/src
    $ git clone https://github.com/LCAD-UFES/p3dx_navigation.git
    $ cd ..
    $ catkin_make
  

• Install rosaria

    $ cd ~/catkin_ws/src
    $ git clone https://github.com/amor-ros-pkg/rosaria.git
    $  cd ..
    $ catkin_make
  

• Install sicktoolbox-wrapper

    $ sudo apt-get install ros-{version}-sicktoolbox-wrapper
  

Simulation

To run simulation

	$ roslaunch p3dx_navigation simulation.launch

and another terminal

	$ roslaunch p3dx_navigation move_base_gazebo.launch

Real robot

1. Connect the pioneer in USB port, then the laser sick.

2. Open 3 terminal

    $ sudo chmod 777 /dev/ttyUSB*
    $ roslaunch p3dx_navigation pioneer.launch
    $ roslaunch p3dx_navigation rviz_p3dx.launch
    $ roslaunch p3dx_navigation move_base_rosaria.launch
   

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Learn more about using the ROS navigation stack at http://wiki.ros.org/navigation