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Run Interactions with QT Remocon

Overview

QT Remocon provides an easy way to pair remote PC and the robot. It communicates with interactions manager to start client side interface and pair with robot(or rocon) app.

This tutorial assumes that you have started rocon_app_manager with Pairing, previous tutorial.

Prerequisite

Installation

Install rocon_remocon to use rocon_remocon and rqt_remocon

  > sudo apt-get install ros-indigo-rocon-remocon ros-indigo-rocon-apps

Interaction Configuration

This is interaction configuration for QT teleop. It configures PC GUI to start, its role, paired app to be started in robot, and others. Please check Interaction Specification for more details. Note that there are example interactions included in pairing.interactions in rocon_app_manager_tutorials.

Also note that, QT remocon can start global executable, roslaunch, and rosrunable applications.

   1 # Teleop testing
   2 - name: rocon_teleop 
   3   role: Pairing
   4   compatibility: rocon:/pc/*/hydro|indigo/precise|quantal|raring|saucy|trusty
   5   display_name: Qt Teleop
   6   description: Teleop'ing turtles via an rqt plugin.
   7   max: -1
   8   parameters:
   9     maximum_linear_velocity: 1.0 
  10     maximum_angular_velocity: 0.78
  11   remappings:
  12     - remap_from: cmd_vel
  13       remap_to: /turtle1/cmd_vel
  14     - remap_from: compressed_image
  15       remap_to: /cybernetic_pirate/compressed_image
  16   pairing:
  17     rapp: rocon_apps/video_teleop

Rqt Remocon

  > export ROS_MASTER_URI=http://<ROBOT_IP>:11311
  > export ROS_HOSTNAME=<PC_IP>
  > rqt_remocon

Rocon Remocon

Rocon Remocon wraps Rqt Remocon with Master Chooser. So you can select a robot without configuring ROS_MASTER_URI.

Qt Teleop via Remocon

If you have started Example Rocon App Manager in rocon_app_manager_tutorials, you can choose teleop turtle in turtlesim.

What's Next?

• Run Interactions with Android Remocon or go back to Main