Contents
Overview
p2os_driver provides a driver for robots using the Pioneer P2OS/ARCOS interface in the form of a ROS node.
Documentation
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:
/cmd_vel (type: geometry_msgs/Twist)
/gripper_control (type: p2os_driver/GripperState)
/cmd_motor_state (type: p2os_driver/MotorState)
/ptz_control (type: p2os_driver/PTZState)
Published topics:
/sonar (type: p2os_driver/SonarArray)
/pose (type: nav_msgs.Odometry)
/gripper_state (type: p2os_driver/GripperState)
/motor_state (type: p2os_driver/MotorState)
/aio (type: p2os_driver/AIO)
/ptz_state (type: p2os_driver/PTZState)
/tf (tf/tfMessage)
/battery_state (type: p2os_driver/BatteryState)
/dio (type: p2os_driver/DIO)