The Pioneer 1 robot is otherwise known as Rita.
There is tutorial on using the Pioneers with ROS: http://www.ros.org/wiki/p2os/Tutorials/Getting%20Started%20with%20p2os
To run the P1 via player you need to connect a laptop to the USB cables. There is one for the serial-to-USB adapter (the nice turquoise thing) which talks to the robot, and one for the laser scanner.
For the basic setup, you can use the file: /storage/robot-lab/shared/config/player/p1/p1.cfg from one of the IRLab machines (if you have access).
This looks like:
driver ( name "p2os" provides ["odometry:::position2d:0" "sonar:0" "power:0" "bumper:0" ] port "/dev/ttyUSB0" pulse "2" ) driver ( name "urglaser" provides ["laser:0"] port "/dev/ttyACM0" )
Before you firing up player you need to connect the hardware to the computer that will run player. When you connect the usb-serial adapter connecting the robot to the computer you should see something like this in the system log (with "dmesg" or "tail /var/log/messages"):
[14653.876305] usb 5-1: new full speed USB device using uhci_hcd and address 5 [14654.033388] usb 5-1: configuration #1 chosen from 1 choice [14654.037772] pl2303 5-1:1.0: pl2303 converter detected [14654.054593] usb 5-1: pl2303 converter now attached to ttyUSB0
The key here is the device name, in this case ttyUSB0. It should match the one in the configuration file. If you connect via straight serial rather than the converter, you'll need to use a device like /dev/ttyS0.
When you connect the laser scanner to the computer you should see something like
[14667.556288] usb 5-1: new full speed USB device using uhci_hcd and address 6 [14667.720818] usb 5-1: configuration #1 chosen from 1 choice [14667.724529] cdc_acm 5-1:1.0: ttyACM0: USB ACM device
again it is the device name (ttyACM0) that is important and should match the config file for player.
Now we are ready to start. Close player if it is running and then do
This should result in a printout like this
Registering driver Player v.2.1.1 * Part of the Player/Stage/Gazebo Project [http://playerstage.sourceforge.net]. * Copyright (C) 2000 - 2006 Brian Gerkey, Richard Vaughan, Andrew Howard, * Nate Koenig, and contributors. Released under the GNU General Public License. * Player comes with ABSOLUTELY NO WARRANTY. This is free software, and you * are welcome to redistribute it under certain conditions; see COPYING * for details. listening on 6665 Added file watch 4 Added file watch 5 Listening on ports: 6665
You should be able to test this with playerv or playerjoy.