rr_openrover_stack: rr_control_input_manager | rr_openrover_description | rr_openrover_driver | rr_openrover_driver_msgs | rr_openrover_simulation | rr_rover_zero_driver

Package Summary

Filter velocity commands by ensuring that message time stamps do not exceed given timeout thresholds.

Description

rr_control_input_manager serves two purposes

1) It allows remapping of PS4 and Xbox 360 controllers from ROS packages such as ds4_drv and joy. Those packages publish all button presses and joystick commands onto a single topic. Sometimes you want those to remap those to specific topics to be ingested by other packages. For example we create a topic called /soft-estop. When either the X-button on the PS4 controller or A-button on the Xbox 360 controller is pressed, a TRUE command to published to the /soft_estop topic which is then sent to the twist_mux package which sets all /cmd_vel to 0, functionally disabling the controller, and and remote sources Freedom Robotics.

2) The second is to allow acceptance of both Twist and TwistStamped messages and checks that the time stamp is not expired, and if the message stamp is expired discard the message.

Default PS4 Controller and Xbox 360 Controller Button Mapping

Xbox360_controller-button-mapping.jpg rover_robotics_ps4_controller_mapping.png

Nodes

Exception Parsing Clearsilver: ParseError: [<string>:4] Unable to parse line When either the X-button on the PS4 controller or A-button on the Xbox 360 controller is pressed, a TRUE command to published to the /soft_estop topic which is then sent to the twist_mux package which sets all /cmd_vel to

Wiki: rr_control_input_manager (last edited 2020-08-31 20:53:43 by nickfragale)