ROS实战_1.1 ROS下 Pioneer-3DX 移动机器人学习指南

一：简要介绍与资源汇总

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
==============================
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
详见：http://wiki.ros.org/Robots/AMR_Pioneer_Compatible
=====================================其他相关链接=========================================
1. http://robots.mobilerobots.com/wiki/Main_Page ========================================================================================
二：学习步骤：
1. 在进行ROSARIA学习之前，应先尽量完成一下三个部分的学习：
ROS/Introduction, 
ROS/Concepts, 
ROS/Tutorials, 可结合《ＲＯＳ机器人操作系统中文版》进行参考练习。
ＲＯＳ下相关命令参考
ROS/CommandLineTools.

２．进行ROSARIA的学习
    http://wiki.ros.org/ROSARIA/Tutorials/How%20to%20use%20ROSARIA