From MobileRobots Research and Academic Customer Support
P2OS includes firmware for various older Pioneer 2 robots (with C166 microcontrollers) as well as the p2oscf configuration tool.
For P2OS see http://robots.mobilerobots.com/p2os
The latest version is "1_Q".
Robot Parameter Files
The robot parameter files (one for each kind of Pioneer 2) are binary data, but you can load them into p2oscf with out connecting to a robot if you want to view their contents.
- Run p2oscf with the -n command to prevent it connecting to the robot
- Use the "load" command to load the file. e.g. "load p2dx".
- Use the "v" and "c" commands to inspect the parameter values.
Pioneer 2 Manual
The Pioneer 2 manual discusses the behavior of P2OS, its programming interface (command protocol), and how to configure parameters: http://robots.mobilerobots.com/docs/all_docs/p2opman11.pdf