phi_p3dx_aria

This ROS2 package provides an interface for the Pioneer P3-DX robot using the ARIA library from Adept MobileRobots. It publishes robot data (odometry, sensors) and receives velocity commands.

Overview

The phi_p3dx_aria is based on ROSARIA (for ROS1), but has been updated for ROS2 Humble. The main updates include:

• Complete migration to ROS2 (rclcpp, modern messages).
• Support for additional sensors (sonar as LaserScan).
• Compatibility with recent ARIA library versions.
• Integration with tf2 for transformations.

Features

• Data publication: Odometry (/odom), laser sensors (/laser_scan), sonar (/sonar).
• Velocity control: Receives commands on /cmd_vel and sends to the robot via ARIA.
• TF transformations: Publishes TF between base_link and odom.

Prerequisites

• ROS2 Humble (or compatible).
• ARIA library: Install ARIA (tested with version 2.7.2)
• Dependencies: rclcpp, nav_msgs, sensor_msgs, geometry_msgs, tf2_ros, tf2_geometry_msgs.

Installation

1. Clone the repository into your ROS2 workspace:

   cd ~/ros2_ws/src
   git clone https://github.com/phir2-lab/phi_p3dx_aria

2. Build the package:

   cd ~/ros2_ws
   colcon build --packages-select phi_p3dx_aria
   source install/setup.bash

Usage

Connection with Real Robot

1. Configure serial connection (adjust ports and parameters in code if necessary).

2. Launch the node:

   ros2 run phi_p3dx_aria phi_p3dx

License

This project is distributed under the GPLv2 license. See the LICENSE file for details.

The original code (ROSARIA) was GPLv2, and this ROS2 version maintains compatibility with the original license.