This rospackage is modify from Mobilerobots, and I have gave a Chineses step for install the package in Pioner3-AT robots.

address: https://blog.csdn.net/crp997576280/article/details/98470571

pioneer3at_pkg

Mobilerobots pioneer3at ROS package

Environmental requirements

• Ubuntu 16.04 amd64
• ros-kinetic

Installation and Configuration

1.Compile & Install AriaCoda

• download source code & goto AriaCoda folder

  git clone https://github.com/QuartzYan/AriaCoda.git
  cd AriaCoda

• compile

  make

• install

  sudo make install

2.Compile & Install pioneer3at ros pkg

• download

  mkdir -p ~/ros_ws/src
  cd ~/ros_ws/src
  git clone https://github.com/QuartzYan/pioneer3at_pkg.git
  cd pioneer3at_pkg
  git submodule init
  git submodule update

• installation dependencies

  cd ~/ros_ws
  rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y

• compile & environment setup

  catkin_make
  echo "source ~/ros_ws/devel/setup.bash" >> ~/.bashrc
  source ~/.bashrc

3.Creating the udev rule

• go to pioneer3at_pkg/p3at_bringup/rules folder, and copy pioneer3at.rules into the /etc/udev/rules.d folder.

  roscd p3at_bringup/rules
  sudo cp pioneer3at.rules /etc/udev/rules.d

  p.s:you can use lsusb command to query current serial number of the ftdi device.
• reload and restart the udev daemon

  sudo service udev reload
  sudo service udev restart

How to use

1.start pioneer3at ros driver & rplidar driver

roslaunch p3at_bringup p3at_bringup.launch

then, you can view all of the topic

rostopic list

Note: Before you do, you must first install rplidar`s ros driver

2.view robot modle

roslaunch p3at_description display.launch

3.mapping demo

roslaunch p3at_navigation gmapping_demo.launch

Note: Before you do, you must first start pioneer3at ros driver and rplidar driver.

When you are finished mapping, you can save it use:

rosrun map_serve map_save -f [map_name]

4.navigation demo

roslaunch p3at_navigation amcl_demo.launch

Note: Before you do, you must first start pioneer3at ros driver and rplidar driver.

You can revise amcl_demo.launch to load a different map.