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cob_command_tools: cob_command_gui | cob_dashboard | cob_interactive_teleop | cob_script_server | cob_teleop

Package Summary

COB teleop interactive marker for RViz provided by dcgm-robotics@FIT group.

cob_command_tools: cob_command_gui | cob_dashboard | cob_interactive_teleop | cob_script_server | cob_teleop

Package Summary

COB teleop interactive marker for RViz provided by dcgm-robotics@FIT group.

cob_command_tools: cob_command_gui | cob_dashboard | cob_interactive_teleop | cob_script_server | cob_teleop

Package Summary

COB teleop interactive marker for RViz provided by dcgm-robotics@FIT group.

cob_command_tools: cob_command_gui | cob_dashboard | cob_interactive_teleop | cob_script_server | cob_teleop

Package Summary

COB teleop interactive marker for RViz provided by dcgm-robotics@FIT group.

  • Maintainer status: developed
  • Maintainer: Michal Spanel <spanel AT fit.vutbr DOT cz>
  • Author: Michal Spanel <spanel AT fit.vutbr DOT cz>
  • License: LGPL
  • Source: git https://github.com/ipa320/cob_command_tools.git (branch: hydro_release_candidate)
cob_command_tools: cob_command_gui | cob_dashboard | cob_helper_tools | cob_interactive_teleop | cob_monitoring | cob_script_server | cob_teleop

Package Summary

COB teleop interactive marker for RViz provided by dcgm-robotics@FIT group.

  • Maintainer status: maintained
  • Maintainer: Richard Bormann <richard.bormann AT ipa.fraunhofer DOT de>
  • Author: Michal Spanel <spanel AT fit.vutbr DOT cz>
  • License: Apache 2.0
  • Source: git https://github.com/ipa320/cob_command_tools.git (branch: indigo_release_candidate)
cob_command_tools: cob_command_gui | cob_dashboard | cob_helper_tools | cob_interactive_teleop | cob_monitoring | cob_script_server | cob_teleop

Package Summary

COB teleop interactive marker for RViz provided by dcgm-robotics@FIT group.

  • Maintainer status: developed
  • Maintainer: Richard Bormann <richard.bormann AT ipa.fraunhofer DOT de>
  • Author: Michal Spanel <spanel AT fit.vutbr DOT cz>
  • License: Apache 2.0
  • Source: git https://github.com/ipa320/cob_command_tools.git (branch: indigo_release_candidate)

Overview

This package provides ability to drive Care-O-bot using interactive markers directly from RViz.

ros_cob_marker_teleop.png

System architecture

The package consists of the following components:

  • COB teleop interactive marker

ROS API

Brief description of provided ROS services, published topics, etc.

Nodes

An overview of all newly created ROS nodes:

Node Name

Published Topics

Description

but_cob_teleop_marker

-

This node publishes interactive markers for driving COB.

Usage

How to launch COB interactive teleop

  1. Run COB simulation
     roslaunch cob_bringup_sim robot.launch
  2. Run cob marker teleop node
     roslaunch cob_interactive_teleop interactive_teleop.launch
  3. Start preconfigured RViz
     roslaunch cob_interactive_teleop rviz.launch
  4. Setup RViz:
    • Switch to Interaction mode

How to control robot using the marker

  • Driving forward and backward is done using red arrows.
  • Strafe to the left and to the right is done using green arrows.
  • Rotating is done using blue disc.
  • You can also drive to specified position by moving with the yellow circle.

Wiki: cob_interactive_teleop (last edited 2012-06-13 08:55:56 by FlorianWeisshardt)