Run RosAria node on Pioneer

Run RosAria node on Pioneer

1. First, you need to change the port with which RosAria is making the connection and compile after making the changes.

$ roscd ROSARIA
$ cd src
$ gedit RosAria.cpp

In line 78 determine /dev/ttyUSB0

n.param( "port", serial_port, std::string("/dev/ttyUSB0") );

$ rosmake ROSARIA

2. Run a core

$ roscore

3. Run RosAria node

$ roscd ROSARIA
$ ./bin/RosAria

You should hear the characteristic sounds that you Pioneer makes when connection is achieved and in your terminal you should see something like the following:

[ INFO] 1279891763.130941000: using serial port: [/dev/ttyUSB0]
ArLog::init: File(aria.log) Verbose Logging Time Not also printing
[ INFO] 1279891763.891941000: rcv: 1279891763.891849 0.000000 0.000000
[ INFO] 1279891763.990366000: rcv: 1279891763.990318 0.000000 0.000000
[ INFO] 1279891764.090697000: rcv: 1279891764.090649 0.000000 0.000000
[ INFO] 1279891764.190707000: rcv: 1279891764.190658 0.000000 0.000000
[ INFO] 1279891764.290465000: rcv: 1279891764.290418 0.000000 0.000000
[ INFO] 1279891764.390697000: rcv: 1279891764.390650 0.000000 0.000000
[ INFO] 1279891764.491022000: rcv: 1279891764.490974 0.000000 0.000000
[ INFO] 1279891764.590368000: rcv: 1279891764.590322 0.000000 0.000000