Installing and Setting up P2OS

Installing P2OS and Setting Up the ROS Environment

We recommend Gazebo 1.9 with ROS-hydro on Ubuntu 12.04 (for futher information about which combination of ROS/Gazebo verisons to use, see this link. Instructions given on this link. Follow the notes and commands below. See this link for more information.

1) Install P2OS

    sudo apt-get install ros-hydro-p2os-driver ros-hydro-p2os-teleop ros-hydro-p2os-launch ros-hydro-p2os-urdf

2) Install P2OS-Controllers-Package

    sudo apt-get install ros-groovy-pr2-controllers ros-groovy-joystick-drivers

3) Set up environment but if an environment was previously set up, execute just the last three lines

    mkdir -p ~/ros_ws/src
cd ~/ros_ws/src
catkin_init_workspace
cd ~/ros_ws/
catkin_make
source devel/setup.bash
echo "source ~/ros_ws/devel/setup.bash" >> ~/.bashrc
cd src && git clone http://www.hmt-git.com/p2os.git
source ../devel/setup.bash
cd ~/ros_ws
catkin_make

4) Create the p2osTutorials Package

    roscreate-pkg p2osTutorial roscpp geometry_msgs nav_msgs
source ~/.bashrc

5) Enable p2os Motors

To use the p2os_enableMotor package:

    roscd && cd ../src
    git clone http://www.hmt-git.com/allenh1/vanderbilt-ros-pkg.git
    source ../devel/setup.bash
    rosmake p2os_enableMotor
    rosrun p2os_enableMotor enableMotor

6) Use rostopic

    rostopic pub /cmd_motor_state p2os_driver/MotorState 1

    <launch>
  <node name="rostopic" pkg="rostopic" type="rostopic" args="pub -1 /cmd_motor_state p2os_driver/MotorState 1"/>
</launch>
or with a launch file