The RosAria node provides a ROS interface for most Adept MobileRobots, MobileRobots Inc., and ActivMedia mobile robot bases including Pioneer 2, Pioneer 3, AmigoBot, PeopleBot, PowerBot, PatrolBot, Seekur, Seekur Jr., Pioneer LX, and any other past, current or future robot base supported by Adept MobileRobot's open source ARIA library. Information from the robot base, and velocity and acceleration control, is implemented via a RosAria node, which publishes topics providing data recieved from the robot's embedded controller by ARIA, and sets desired velocity, acceleration and other commands in ARIA when new commands are received from command topics.
The rosaria package provides the RosAria ROS node, which uses ARIA to communicate with a mobile robot platform from Adept MobileRobots (formerly MobileRobots Inc, formerly ActivMedia Robotics). The RosAria node is implemented in the RosAriaNode class.
More information is availale at http://wiki.ros.org/rosaria and http://wiki.ros.org/Robots/Pioneer.