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By the way, there is a list of beep sounds made by the Pioneer at http://robots.mobilerobots.com/wiki/Robot_Beeps You may be hearing the motion watchdog that stops the robot and beeps if there is a comminications timeout , no data received from software, i.e. the p2os_driver node. It could happen if p2os_driver stopped sending commands to the robot (there is a no-op "pulse" command 0 that can be used), or if it hung, crashed or exited without closing the connection.
By default, motion is disabled, but most software enables them after setup and its ready to control the robot. I'm not sure if p2os_driver does this, I think rosaria does.
It is also possible to configure the controller firmware to disable all sounds if you want.
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