!

(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Teleoperation

Description: Robot teleoperation from a joystick or a keyboard

Tutorial Level: INTERMEDIATE

Next Tutorial: Remote monitoring and control

Joystick teleoperation

To run the joystick teleop simply add to the robot launch file joystick:=true.

Example:

$ roslaunch armadillo2 armadillo2.launch gazebo:=true joystick:=true

This command will run the armadillo simulation, and also run the joystick teleop.

By default, the joystick device is /dev/input/js0 but you can select different devices using the joystick_dev argument. For example:

$ roslaunch armadillo2 armadillo2.launch gazebo:=true joystick:=true joystick_dev:=/dev/input/js1

To use the joystick to steer the robot, use the right stick.

Keyboard teleoperation

To use the keyboard for teleoperation, use the rqt_robot_steering tool.

Wiki: armadillo2/Tutorials/Teleoperation (last edited 2018-01-02 09:48:09 by yamgeva)