ROS實戰_1.1 ROS下 Pioneer-3DX 移動機器人學習指南

一：簡要介紹與資源彙總

1. Available Packages

    You may choose to use one of three packages for using these robots with ROS: ROSARIA or p2os for velocity control of the platform, 

or ros-arnl to use Adpept MobileRobot's optional ARNL localization autonomous navigation system.

    When using ROSARIA, communications with the robot, and the differences between some robot platforms and configurations is taken care of automatically by ARIA (and customizations on specific robots can be configured in ARIA). When ROSARIA is built (with catkin or rosmake), it automatically downloads the current ARIA release from MobileRobots. 

    ROSARIA provides interfaces to the mobile robot control and position estimate; use device-specific ROS nodes for sensors and other devices on the robot base.

=========Resources=============     

Aria

http://robots.mobilerobots.com/wiki/Aria

mobilesim

http://robots.mobilerobots.com/wiki/MobileSim

http://wiki.ros.org/ROSARIA/Tutorials/How%20to%20use%20ROSARIA

http://wiki.ros.org/ROSARIA

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2. Getting Started with ROSARIA

For step by step instructions on downloading and building the ROSARIA package and using the RosAria node, see ROSARIA/Tutorials/How to use ROSARIA.

3. Robot Model Descriptions (URDF)

Models of some robots are available in the http://github.com/MobileRobots/amr-ros-config repository. (This repository provides a ROS package called amr-ros-config so you can refer to files via that package name if in your ROS path.) See the README files in amr-ros-config for more information. If you would like to help create new URDF files or improve the existing ones, please discuss via the ros-sig-pioneer mailing list.

4. Launch Files and Other Configuration

Some example launch files are available in the http://github.com/MobileRobots/amr-ros-config repository. (This repository provides a ROS package called amr-ros-config so you can refer to files via that package name if in your ROS path.) See the README files in amr-ros-config for more information. You can copy and modify these launch files as needed.

5. 支持的硬件和仿真器

詳見：http://wiki.ros.org/Robots/AMR_Pioneer_Compatible

=====================================其他相關鏈接=========================================

1. http://robots.mobilerobots.com/wiki/Main_Page

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二：學習步驟：

1. 在進行ROSARIA學習之前，應先儘量完成一下三個部分的學習：

ROS/Introduction, 

ROS/Concepts, 

ROS/Tutorials, 可結合《ＲＯＳ機器人操作系統中文版》進行參考練習。

ＲＯＳ下相關命令參考

ROS/CommandLineTools.

２．進行ROSARIA的學習

    http://wiki.ros.org/ROSARIA/Tutorials/How%20to%20use%20ROSARIA