Only released in EOL distros:   electric

Build and Launch

rosmake nxt_teleop

For keyboard teleop:

roslaunch nxt_teleop teleop_keyboard.launch

For joystick teleop:

roslaunch nxt_teleop teleop_joy.launch

ROS API

nxt_teleop_joy

nxt_teleop_joy provides a joystick interface for any nxt_robot using the nxt_base_controller.

Subscribed Topics

~joy (joy/Joy)

• The current state of the joystick buttons.

Published Topics

~cmd_vel (geometry/Twist)

• The desired linear and angular x,y,z of the base.

Parameters

~axis_linear (int, default: 1)

• The joystick axis that will control the linear velocity.

~axis_angular (int, default: 2)

• he joystick axis that will control the angular velocity.

~axis_deadman (int, default: 0)

• The button for the deadman switch (this button must be pressed to drive).

~scale_linear (double, default: 50.0)

• The scaling factor from the joystick input to the linear velocity.

~scale_angular (double, default: 2.0)

• The scaling factor from the joystick input to the angular velocity.

nxt_teleop_key

nxt_teleop_key provides an arrow key interface for any nxt_robot using the nxt_base_controller.

Published Topics

~cmd_vel (geometry/Twist)

• The desired linear and angular x,y,z of the base.

Parameters

~scale_linear (double, default: 1.0)

• The scaling factor from the joystick input to the linear velocity.

~scale_angular (double, default: 1.0)

• The scaling factor from the joystick input to the angular velocity.