Client for driving the P3AT mobile base around (i.e., teleoperation), using LSTS' Dune/IMC framework.

This DUNE task sends DesiredVelocity messages over UDP to a Pioneer 3-AT robot, ideally running the P3AT DUNE driver.

The task's code was based on the rosaria_client ROS package.

• Follow the DUNE framework install/build instructions: Obtaining the Source Code; Building: Unix Command Line;

• Clone this repository to some directory (e.g., your home directory)

git clone https://github.com/rgmaidana/P3AT-dune-teleop $HOME/P3AT-dune-teleop

• Go to DUNE's root directory (for example, $HOME/dune/dune, considering DUNE was built in your home directory) and copy the P3AT Teleop task to DUNE's src directory

cd $HOME/dune/dune
cp -r $HOME/P3AT-dune-driver/src/P3AT $HOME/dune/dune/src

• Copy the P3AT Teleop configuration file (P3AT_Teleop.ini) to DUNE's etc directory

cp -r $HOME/P3AT-dune-driver/etc/P3AT_Teleop.ini $HOME/dune/dune/etc

• Clone the IMC repository to DUNE's build directory (for example, $HOME/dune/build, considering DUNE was built in your home directory)

git clone https://github.com/lsts/imc $HOME/dune/build/IMC

• Go to DUNE's build directory, build the IMC messages and rebuild the project

cd $HOME/dune/build
make imc
make rebuild_cache
make

• DUNE
• IMC

• Set up a P3AT mobile base, build and run the P3AT DUNE driver on the robot
• As the DesiredVelocity messages are sent over UDP to a static IP address, modify the P3AT_Teleop.ini configuration file to point to your robot computer's IP address and port (port 6002 by default in the P3AT driver)
• On your host computer, go to DUNE's build folder ($HOME/dune/build) and run the DUNE application, indicating the P3AT_Teleop configuration file:

cd $HOME/dune/build
./dune -c P3AT_Teleop

• Use your keyboard's arrow keys to move the robot around (a/z to increase/decrease linear velocity, s/x to increase/decrease angular velocity)

• Laboratório de Sistemas e Tecnologia Subaquática (LSTS)
• Laboratório de Sistemas Autônomos (LSA)
• rosaria_client package

• Renan Maidana