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teleop_tools: joy_teleop | key_teleop

Package Summary

A (to be) generic joystick interface to control a robot

  • Maintainer status: maintained
  • Maintainer: Bence Magyar <bence.magyar AT pal-robotics DOT com>
  • Author: Paul Mathieu <paul.mathieu AT pal-robotics DOT com>
  • License: BSD
  • Source: git https://github.com/ros-teleop/teleop_tools.git (branch: hydro-devel)
teleop_tools: joy_teleop | key_teleop | teleop_tools_msgs

Package Summary

A (to be) generic joystick interface to control a robot

  • Maintainer status: maintained
  • Maintainer: Bence Magyar <bence.magyar.robotics AT gmail DOT com>
  • Author: Paul Mathieu <paul.mathieu AT pal-robotics DOT com>
  • License: BSD
  • Source: git https://github.com/ros-teleop/teleop_tools.git (branch: indigo-devel)
teleop_tools: joy_teleop | key_teleop | teleop_tools_msgs

Package Summary

A (to be) generic joystick interface to control a robot

  • Maintainer status: maintained
  • Maintainer: Bence Magyar <bence.magyar.robotics AT gmail DOT com>
  • Author: Paul Mathieu <paul.mathieu AT pal-robotics DOT com>
  • License: BSD
  • Source: git https://github.com/ros-teleop/teleop_tools.git (branch: indigo-devel)
teleop_tools: joy_teleop | key_teleop | teleop_tools_msgs

Package Summary

A (to be) generic joystick interface to control a robot

  • Maintainer status: maintained
  • Maintainer: Bence Magyar <bence.magyar.robotics AT gmail DOT com>
  • Author: Paul Mathieu <paul.mathieu AT pal-robotics DOT com>
  • License: BSD
  • Source: git https://github.com/ros-teleop/teleop_tools.git (branch: indigo-devel)
teleop_tools: joy_teleop | key_teleop | teleop_tools_msgs

Package Summary

A (to be) generic joystick interface to control a robot

  • Maintainer status: maintained
  • Maintainer: Bence Magyar <bence.magyar.robotics AT gmail DOT com>
  • Author: Paul Mathieu <paul.mathieu AT pal-robotics DOT com>
  • License: BSD
  • Source: git https://github.com/ros-teleop/teleop_tools.git (branch: indigo-devel)

Usage

joy_teleop takes the output of the joy_node, and publishes topics or calls actions according to it's configuration. An example of using joy_teleop with TIAGo can be found on the video below.

ROS API

The ROS API consists of the configuration file, the input topic, and the several output topics and actionclients which get dyamically set up according to the configuration file.

Parameters

Parameters

~teleop (array, default: )
  • Array of axis/button to topic and action bindings

Example configuration file

teleop:
  move:
    type: topic
    message_type: geometry_msgs/Twist
    topic_name: cmd_vel
    axis_mappings:
      -
        axis: 1
        target: linear.x
        scale: 1.0
      -
        axis: 2
        target: angular.z
        scale: 1.0

  joy_priority:
    type: action
    action_name: joy_priority_action
    buttons: [9]

  joy_turbo_decrease:
    type: action
    action_name: joy_turbo_decrease
    buttons: [1, 4, 5]

  joy_turbo_increase:
    type: action
    action_name: joy_turbo_increase
    buttons: [3, 4, 5]

  torso_up:
    type: action
    action_name: /torso_controller/increment
    action_goal:
      increment_by: [0.05]
    buttons: [4] # right pad, top button

  torso_down:
    type: action
    action_name: /torso_controller/increment
    action_goal:
      increment_by: [-0.05]
    buttons: [6] # right pad, bottom button

  close_hand:
    type: action
    action_name: /play_motion
    action_goal:
      motion_name: 'close_hand'
      skip_planning: True
    buttons: [7]

Topic interface

Subscribed Topics

~joy (sensor_msgs/Joy)
  • Listens to the joystick state

Wiki: joy_teleop (last edited 2016-01-29 10:15:41 by BenceMagyar)