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Package Summary

Interactive control for generic Twist-based robots using interactive markers

  • Maintainer: Mike Purvis <mpurvis AT clearpathrobotics DOT com>
  • Author:
  • License: BSD

Package Summary

Interactive control for generic Twist-based robots using interactive markers

Package Summary

Interactive control for generic Twist-based robots using interactive markers

Overview

The purpose of this package is to provide a basic generic marker server for teleoperation of twist-based robots, particularly simple differential drive bases. Examples of such platforms include TurtleBot, Husky, and Kingfisher.

API

marker_server

Serve interactive markers for control of a robot drive base.

Published Topics

~cmd_vel (geometry_msgs/Twist)
  • Command velocity messages arising from markers usage. Messages are not published when the markers are idle.

Parameters

~link_name (str, default: /base_link)
  • Name of frame to attach the markers to; typically will be base_link or base_footprint.
~robot_name (str, default: robot)
  • Single-word name for the robot, to use in labelling the controller.
~marker_size_scale (double, default: 1.0)
  • Scale the size of the markers, for platforms especially large or small.

marker_server

Serve interactive markers for control of a robot drive base.

Published Topics

cmd_vel (geometry_msgs/Twist)
  • Command velocity messages arising from markers usage. Messages are not published when the markers are idle.

Parameters

~link_name (str, default: /base_link)
  • Name of frame to attach the markers to; typically will be base_link or base_footprint.
~robot_name (str, default: robot)
  • Single-word name for the robot, to use in labelling the controller.
~marker_size_scale (double, default: 1.0)
  • Scale the size of the markers, for platforms especially large or small.

Roadmap

Package is experimental. Please see the feature tracker for planned enhancements.

Wiki: interactive_marker_twist_server (last edited 2015-05-06 23:19:37 by WilliamWoodall)