Verifying network connection with Player/Stage

1. This is the cfg file that includes the p2os driver:

driver
(
name "p2os"
provides ["position2d:0" "power:0" "sonar:0"]
port "/dev/ttyUSB0"
safe 1
)

2. I first connected Pio to lola and verified the functionality of both the cfg file and the playerjoy interface. Everyting worked fine.

$ robot-player pio.cfg

$ robot-playerjoy

3. I then ran the playerjoy interface on XPS including lola's IP and the port to which player listens (6665). And once again, everything worked just fine.

(on XPS) $ robot-playerjoy 10.48.56.34:6665

4. I then inverted roles and ran the cfg file on XPS. I verified playerjoy's functionality both in XPS and lola and the following error message was being displayed:

create and bind socket():bind() failed; socket not created.: Adress already in use player.

5. By reading forums I figures out that perhaps the problem had to do with the firewall so I enabled in ins XPS and enables access of both hosts to port 6665.

On XPS (10.48.61.241) which had the problem:

$sudo ufw enable

$sudo ufw alow proto tcp from 10.48.61.241 port 6665.

That solved the problem

6. Now I have to figure out if ROS' issues have to do with the firewall as well, but I am not sure

in which default port does it listens. It is perhaps 11311 

Testing SICK LMS-200

I tested the correct functionality of the SICK LMS-200 laser using both player and Aria demo

1. Creation of cfg file

In order to test it with player I had to create a new .cfg file named sick.cfg which only content is the driver for the laser as follows:

driver
(
name "sicklms200"
provides ["laser:0"]
port "/dev/ttyUSB1")

2. Running the cfg file and testing with playerv

$ robot-player sick.cfg
$ robot-playerv



3. Testing the laser with Aria demo.

3.1 I first needed to change the port that makes the communication with the laser

Note: Although we are working with a pioneer p3at, its laser integration board belongs to a pioneer p3dx

$ roscd Aria
$ cd Aria/params
$ gedit p3dx.p

In line 110 change LaserPort from COM2 to /dev/ttyUSB1

$ rosmake Aria
$ roscd Aria
$ cd Aria/examples

Run demo with the corresponding robot port
$ ./demo -rp /dev/ttyUSB0

Connected to robot.
Name: ITESM_1853
Type: Pioneer
Subtype: p3dx
Loaded robot parameters from p3dx.p
Stabilizing gyro

Then choose 'l' for laser mode and you should see the readings as follows:

You are in 'laser' mode currently.

Laser mode connects to a laser, or uses a previously established connection.
Laser mode then displays the closest and furthest reading from the laser.
'z' or 'Z': toggle between far reading and middle reading with reflectivity
1: lms2xx_1

ArModeLaser is connecting to lms2xx_1.
lms2xx_1: waiting for laser to power on.
lms2xx_1: Connected to the laser.

Laser mode has connected to the laser.

Close: 836mm -26.4 deg Far: 4278mm 49.8 deg 119 readings