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Overview

The robotino_teleop package implements two nodes which allow Robotino to be controlled remotely using a joystick or a keyboard.

ROS Nodes

joystick_teleop_node

Control Robotino using a joystick

Published Topics

cmd_vel (geometry_msgs/Twist)

• Velocities to drive/rotate Robotino

Parameters

axis_linear_x (int, default: 1)

• Linear X Axis

axis_linear_y (int, default: 0)

• Linear Y Axis

axis_angular (int, default: 2)

• Angular Axis

scale_linear (double, default: 0.1)

• Scale for the translational values

scale_angular (double, default: 0.2)

• Scale for the rotational values

Joystick note

Please note that depending on your joystick, you might have to modify the axes parameters in the launch file for it to work.

Usage

roslaunch robotino_teleop joystick_teleop.launch

keyboard_teleop_node

Control Robotino using a keyboard

Published Topics

cmd_vel (geometry_msgs/Twist)

• Velocities to drive/rotate Robotino

Parameters

scale_linear (double, default: 1.0)

• Scale for the translational values

scale_angular (double, default: 1.0)

• Scale for the rotational values

Usage

Run the following command and use the W,A,S & D keys for translational motion and keys Q and E for rotational motion. Use the SPACEBAR to stop.

roslaunch robotino_teleop keyboard_teleop.launch