Skip to content

ropod-project/ropod_teleop

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

24 Commits
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

ropod_teleop

Summary

A joypad for the ROPOD platform exposed as a ROS node.

Supported key combinations

  • Controller initialisation: LB + RB + A
  • Controller stopping: LB + RB + X
  • Linear motion: RB + left axis
  • Rotation: RB + right axis
  • Docking: RB + LB + B
  • Undocking: RB + LB + Y
  • Event registration for data annotation: LB + X
  • Individual smart wheel motion:
    • Wheel 1: RB + Y + cross Y
    • Wheel 2: RB + B + cross Y
    • Wheel 3: RB + A + cross Y
    • Wheel 4: RB + X + cross Y

Launch file parameters

The following parameters may be passed when launching the teleop node:

  • joy_topic: Topic for joypad events (default /joy)
  • number_of_smart_wheels: Number of smart wheels on a given ropod (default 4)
  • base_vel_topic: Topic for base velocity commands (default /cmd_vel)
  • smart_wheel_command_topic: Topic for individual smart wheel velocity commands (default /smart_wheel/command)
  • docking_command_topic: Topic for docking/undocking commands (default /ropod/ropod_low_level_control/cmd_dock)
  • event_topic: Topic for events (default /ropod/event)
  • move_base_cancel_topic: Topic for cancelling move base commands (default /move_base/cancel)
  • max_linear_vel: Maximum base linear velocity in m/s (default 0.1)
  • max_angular_vel: Maximum base angular velocity in rad/s (default 0.1)
  • bringup_launcher: Absolute path to a bringup launcher for the ropod (default '')

Dependencies

  • rospy
  • roslaunch
  • joy
  • sensor_msgs
  • geometry_msgs
  • actionlib_msgs
  • ropod_ros_msgs

About

No description, website, or topics provided.

Resources

License

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published