pioneer-ros

ROS packages to control Pioneer 3 mobile robots and their simulations in MobileSim and Gazebo. Packages created during my internship at ACM Lab, Dalhousie University.

1. Environment

• Ubuntu 16.04, ROS Kinetic Kame
• Ubuntu 18.04, ROS Melodic Morenia

2. Package Documentation

RosAria
https://wiki.ros.org/ROSARIA

ARIA

• https://www.eecs.yorku.ca/course_archive/2009-10/W/4421/doc/pioneer/aria/main.html
• https://web.archive.org/web/20181005213856/http://robots.mobilerobots.com/wiki/ARIA

MobileSim

• https://web.archive.org/web/20181006012429/http://robots.mobilerobots.com/wiki/MobileSim
• http://vigir.missouri.edu/~gdesouza/Research/MobileRobotics/Software/MobileSim/README.html

3. Package Installation

• RosAria

  1. Bring RosAria into workspace
     cd ~/catkin_ws/src
git clone https://github.com/amor-ros-pkg/rosaria.git
  2. Install ARIA
     • From mobilerobots site archive
       1. Install g++
          sudo apt install make g++
       2. Download ARIA package libaria_2.9.4+ubuntu16_amd64.deb wget https://web.archive.org/web/20181005213856/http://robots.mobilerobots.com/ARIA/download/current/libaria_2.9.4+ubuntu16_amd64.deb
       3. Install the package
          sudo dpkg -i libaria_2.9.4+ubuntu16_amd64.deb
     • From alternate AriaCode fork
       Refer https://github.com/reedhedges/AriaCoda
  3. Build catkin workspace directory
     cd ~/catkin_ws
catkin_make
  4. Open RosAria
     rosrun rosaria RosAria

• MobileSim

  1. Download MobileSim package mobilesim_0.9.8+ubuntu16_amd64.deb from archive
     wget https://web.archive.org/web/20181006012429/http://robots.mobilerobots.com/MobileSim/download/current/mobilesim_0.9.8+ubuntu16_amd64.deb
  2. Install MobileSim package
     sudo dpkg -i mobilesim_0.9.8+ubuntu16_amd64.deb
  3. Launch MobileSim from terminal
     MobileSim -nomap

• Pioneer P3-DX Model on Gazebo

  1. Clone the pioneer_p3dx_model package from https://github.com/mario-serna/pioneer_p3dx_model
     cd ~/catkin_ws/src
git clone https://github.com/mario-serna/pioneer_p3dx_model.git
  2. Build catkin workspace directory
     cd ~/catkin_ws
catkin_make
  3. Launch Gazebo
     roslaunch gazebo_ros empty_world.launch
  4. Spawn the P3-DX model on Gazebo
     roslaunch p3dx_gazebo p3dx.launch

• pioneer-ros

  1. Bring pioneer-ros package into workspace
     cd ~/catkin_ws/src
git clone https://github.com/rnitin/pioneer-ros.git
  2. Build catkin workspace directory
     cd ~/catkin_ws
catkin_make

4. Executing ROS Packages

• Waypoint Navigation on MobileSim
  Package: p3dx-mobilesim

  1. Start MobileSim from terminal
     MobileSim --nomap
  2. Execute the launch file from another terminal
     roslaunch p3dx-mobilesim waypoint.launch

• Waypoint Navigation on Gazebo Package: p3dx-gazebo Execute the launch file from terminal
  roslaunch p3dx-gazebo waypointgz.launch

• Waypoint Navigation on the Pioneer 3 robot Package: p3dx-robot

  1. Connect the robot to the computer
  2. Enable USB permission for the port (ttyUSB0 here)
     sudo chmod 777 -R /dev/ttyUSB0
  3. Execute the launch file from terminal
     roslaunch p3dx-robot waypointr.launch