Nodes

teleop.py

The teleop.py node consumes Joy messages and produces Twist commands for a mobile base.

Subscribed Topics

joy (joy/Joy)
  • Receives joystick state.

Published Topics

cmd_vel (geometry_msgs/Twist)
  • Outputs motion command.

Parameters

~turn_scale (double)
  • Amount by which to multiply 0..1 joystick x-axis in order to obtain turn speed command in rads/s.
~drive_scale (double)
  • Amount by which to multiply 0..1 joystick y-axis in order to obtain linear drive speed command in m/s.
~deadman_button (int, default: 0)
  • Index of button which must be depressed in order to broadcast command messages.
~hz (double, default: 20)
  • Frequency with which to broadcast command messages.

Wiki: clearpath_teleop (last edited 2011-03-08 14:49:52 by MikePurvis)