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turtlebot_apps: chirp | turtlebot_calibration | turtlebot_follower | turtlebot_navigation | turtlebot_teleop

Package Summary

turtlebot_teleop

turtlebot_apps: turtlebot_actions | turtlebot_calibration | turtlebot_follower | turtlebot_navigation | turtlebot_sounds | turtlebot_teleop

Package Summary

Provides teleoperation using joysticks or keyboard.

turtlebot_apps: turtlebot_actions | turtlebot_calibration | turtlebot_follower | turtlebot_navigation | turtlebot_sounds | turtlebot_teleop

Package Summary

Provides teleoperation using joysticks or keyboard.

turtlebot_apps: pano_core | pano_py | pano_ros | turtlebot_actions | turtlebot_calibration | turtlebot_core_apps | turtlebot_follower | turtlebot_navigation | turtlebot_panorama | turtlebot_teleop

Package Summary

Provides teleoperation using joysticks or keyboard.

turtlebot: turtlebot_bringup | turtlebot_capabilities | turtlebot_description | turtlebot_teleop

Package Summary

Provides teleoperation using joysticks or keyboard.

turtlebot: turtlebot_bringup | turtlebot_capabilities | turtlebot_description | turtlebot_teleop

Package Summary

Provides teleoperation using joysticks or keyboard.

Use

The turtlebot_teleop package provides launch files for teleoperation with different input devices.

  • For a keyboard teleoperation use:
    • roslaunch turtlebot_teleop keyboard_teleop.launch
    For a ps3 joystick use:
    • roslaunch turtlebot_teleop ps3_teleop.launch
    For a xbox360 joystick use:
    • roslaunch turtlebot_teleop xbox360_teleop.launch

Nodes

Keyboard Teleop

The turtlebot_teleop_key provides a generic keyboard teleop node.

Published Topics

turtlebot_telop_keyboard/cmd_vel (geometry_msgs/Twist)
  • Outputs command velocity

Parameters

~scale_linear (double, default: 0.5)
  • The amount to scale the joystick input for the command velocity output.
~scale_angular (double, default: 1.5)
  • The amount to scale the joystick input for the command velocity output.

PS3/XBox Teleop

The turtlebot_teleop_joy provides a generic joystick teleop node.

Subscribed Topics

joy (sensor_msgs/Joy)
  • Listens to a joystick commands

Published Topics

turtlebot_telop_joystick/cmd_vel (geometry_msgs/Twist)
  • Outputs command velocity

Parameters

~scale_linear (double, default: 0.5)
  • The amount to scale the joystick input for the command velocity output.
~scale_angular (double, default: 1.5)
  • The amount to scale the joystick input for the command velocity output.
~axis_deadman (int, default: 10)
  • The joystick index to disables/enables the output cmd_vel message.
~axis_linear (int, default: 1)
  • The joystick button index to control linear speed
~axis_angular (int, default: 0)
  • The joystick button index to control angular speed

Wiki: turtlebot_teleop (last edited 2015-01-08 08:30:41 by jihoonl)