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Pioneer 2 / PeopleBot manual Starting Client-Server Communications, Successful Connection

Models: 2 / PeopleBot

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ActivMedia Robotics

The same P2OS initialization sequence occurs whenever you press the red RESET button. Unlike the original Pioneer 1, you cannot engage the drive motors until after you have connected with a client, except during self-tests.

RADIO ON

If you own radio modems for client-server serial communications, switch RADIO power ON.

Starting Client-Server Communications

After it starts up, resets, or completes its self-tests, your robot’s onboard servers (P2OS) enters disconnect ("noconn") mode—a quiet state in which P2OS awaits connection with a client computer and software like Saphira or ARIA.

To establish a connection between your robot and the Saphira demonstration client, pull down the Connect menu and engage the appropriate serial port: It's the one that you connected to the robot via a direct cable or through modems. With the onboard PC, it is the first (default) serial port, COM1 or /dev/ttyS0. The port name varies by computer platform.13

The Saphira client initiates a connection with your robot server by exchanging three synchronization packets. You may monitor this process on your robot’s LCD and in Saphira’s Colbert interaction window.

As synchronization packets are received

 

and echoed by the communications

 

server, they appear sequentially next to the

 

word SYNC on the top line of the LCD

 

display on the robot. If these numbers do

 

not appear, the communication line is

 

down or the client is malfunctioning. Press

 

RESET to return P2OS to its client-

 

connection waiting state.

Figure 15. Connect Saphira with your

 

ActivMedia robot through a serial port.

A Successful Connection

After Saphira negotiates a connection successfully, the client requests various P2OS servers to start their activities, including sonar polling, position integration, and so on. The microcontroller sounds an audible connection cue, and you should hear the robot’s sonar ping with a distinctive and repetitive clicking.

Press the white MOTORS pushbutton to enable the drive motors. The associated green LED should stop flashing and light continuously.

The amber SERIAL port indicator LEDs on the robot’s Console should blink to indicate Saphira-client to P2OS-server communications. The Console LCD also should display a message similar to the following:

13 Choose Local Port to connect with the simulator.

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Pioneer 2 / PeopleBot manual Starting Client-Server Communications, Successful Connection
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2 / PeopleBot specifications

Pioneer 2, also known as PeopleBot, is an advanced mobile robot platform heralded for its versatile design and robust capabilities. Developed by the renowned robotics company Adept Technology, Pioneer 2 has become a staple in the field of mobile robotics, widely utilized for research, education, and practical applications in various industries.

One of the standout features of Pioneer 2 is its exceptional mobility. The robot is equipped with differential steering, allowing it to navigate complex environments with precision. Its compact and sturdy chassis enables it to traverse a variety of terrains, making it suitable for indoor and outdoor exploration. This mobility is further enhanced by an adaptable wheel configuration, allowing for smooth movement even over obstacles.

In terms of technologies, Pioneer 2 is outfitted with an array of sensors that facilitate autonomous navigation and obstacle avoidance. These sensors include laser range finders, infrared sensors, and bumpers, which work in tandem to map the surrounding environment and detect potential hazards. This capability is critical for applications in areas such as warehouse automation or reconnaissance tasks, where safe navigation is paramount.

Pioneer 2 also supports extensive software frameworks, notably the Robot Operating System (ROS). This compatibility allows researchers and developers to leverage a vast library of tools and algorithms, expediting the process of programming and deploying robotic applications. Additionally, the platform can be integrated with various payloads, such as cameras or grippers, expanding its functionality further.

Another significant characteristic of Pioneer 2 is its user-friendly design. The robot comes with an easy-to-use programming interface that empowers users with varying levels of expertise to engage with the technology. Educational institutions often employ Pioneer 2 in robotics courses to provide students with hands-on experience in programming and operating robotic systems.

Powering Pioneer 2 is a rechargeable battery system that ensures extended operation times. This feature is particularly advantageous for fieldwork applications where connectivity to a power source may not be readily available. Importantly, the robot’s modular design facilitates maintenance and upgrades, allowing users to keep their systems current with advances in technology.

Overall, Pioneer 2 (PeopleBot) exemplifies innovation in mobile robotics with its outstanding mobility, advanced sensing technologies, compatibility with leading software frameworks, and a design focused on ease of use and adaptability. It continues to be a preferred choice for researchers, educators, and professionals in the rapidly evolving landscape of robotics.