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