About

The rail_youbot_teleop package contains a node that can be used to teleoperate a Kuka youBot with a joystick. The node is responsible for converting sensor_msgs/Joy messages into geometry_msgs/Twist messages. A launch file is also included to launch both the teleoperation node and the joy stick listener node.

Nodes

youbot_joy_teleop

youbot_joy_teleop can control the motors of a Kuka youBot using a joystick. This node listens to a joy topic and sends messages to the cmd_vel topic. The left and right joysticks control the movement of the youBot. An example gamepad is shown to the right with its buttons labeled. youbot_teleop_joy.png

Subscribed Topics

joy (sensor_msgs/Joy)
  • Listens for joystick commands.

Published Topics

cmd_vel (geometry_msgs/Twist)
  • Control the movement of the Rovio using the left and right joysticks.

Installation

Before installing the rail_youbot stack, be sure to install the necessary dependencies. Instructions on installing the various youBot packages can be found in this tutorial.

To install the rail_youbot stack, simply run the following commands in your shell:

  •    1 cd /path/to/your/local/ros/stacks
       2 git clone https://github.com/WPI-RAIL/rail_youbot.git
       3 roscd rail_youbot
       4 rosmake rail_youbot
    

Startup

The rail_youbot_teleop package contains a youbot_joy_teleop.launch that can be used to control your robot. This file launches an instance of the youbot_joy_teleop and joy_node nodes. To launch these nodes, the following command can be used:

  • roslaunch rail_youbot_teleop youbot_joy_teleop.launch

You should now be able to teleoperate your youBot with a joystick.

Support

Please send bug reports to the GitHub Issue Tracker. Feel free to contact me at any point with questions and comments.


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Wiki: rail_youbot_teleop (last edited 2013-01-09 15:16:15 by Russell Toris)