This package contains two collision avoiding teleops. One teleop that should be used with the controller in the reactive_trajectory_controller and another one that implements the collison avoidance routines on it's own.

Both teleops are highly experimental! They do not guarantee 100% safety, but almost 100%

To run the teleops you need a PS3 joystick. Information about using PS3 joysticks in ROS can be found here

http://www.ros.org/wiki/ps3joy/Tutorials/PairingJoystickAndBluetoothDongle,

here: joy, and here: ps3joy

Running the standalone teleop

To run the standalone teleop you first have to run the collision environment if you do not have any running.

roslaunch pr2_arm_teleop_skin teleop_environment.launch

Now you are ready to launch the standalone teleop:

roslaunch pr2_arm_teleop_skin teleop_standalone.launch

To drive the robot around you have to press the deadman button which is button 1 on the left side. To move the arms around you have to press button 1 on the left side and button 1 on the right side at the same time. If you want to change the orientation of the gripper you have to press button 1 on the left side and button 1 and 2 on the right side.

Running the teleop with the reactive trajectory controller

The other teleop does not have any collision avoidance routines they are located in the reactive_tracjetory_controller. You first have to launch this controller, see documentation in reactive_trajectory_controller.

Then you can run teleop with

roslaunch pr2_arm_teleop_skin teleop.launch

The usage is the same as with the standalone teleop.

Add obstacles with the proximity sensor

After you started your teleop you have a running environment server either which teleop you ran. So you can use the proximity sensor to add obstacles to that environment server.

roslaunch proximity_sensor_add_obstacles add_obstacles.launch

However, you do not need to use the proximity sensor to build your collision map, you can use whatever sensor (or sensors) you want.