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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:

1. /cmd_vel (type: geometry_msgs/Twist)

2. /gripper_control (type: p2os_driver/GripperState)

3. /cmd_motor_state (type: p2os_driver/MotorState)

4. /ptz_control (type: p2os_driver/PTZState)

Published topics:

1. /sonar (type: p2os_driver/SonarArray)

2. /pose (type: nav_msgs.Odometry)

3. /gripper_state (type: p2os_driver/GripperState)

4. /motor_state (type: p2os_driver/MotorState)

5. /aio (type: p2os_driver/AIO)

6. /ptz_state (type: p2os_driver/PTZState)

7. /tf (tf/tfMessage)

8. /battery_state (type: p2os_driver/BatteryState)

9. /dio (type: p2os_driver/DIO)