Only released in EOL distros:   hydro

Overview

This package contains 2 nodes that communicate with the input devices and publishes geometry_msgs/Twist to an arbitrary number of output topics, which allows control over a multiple number of robots.

ROS API

joystick_teleoperator

Reads input data from an external physical joystick device, processes it, and publishes geometry_msgs/Twist with the corresponding output data.

Published Topics

joy_cmd_vel (geometry_msgs/Twist)

• The linear and angular velocity

Parameters

dev (string, default: "/dev/input/js0")

• Usb device input port

velocity_dispatcher

Subscribes to a number of velocity input topics, and routes one selected input topic data, to the selected output topic. allows dynamic switching between of input/output channels via topics.

Subscribed Topics

*input_topics parameter* (geometry_msgs/Twist)

• An array of input velocity topics, usually defined in the launch file.

set_input (std_msgs/Int32)

• Changes the currently active input (ranges from 1 to number of topics).

set_output (std_msgs/Int32)

• Changes the currently active output (ranges from 1 to number of topics, 0 to disable output).

Published Topics

*input_topics parameter* (geometry_msgs/Twist)

• An array of output velocity topics, usually defined in the launch file.

current_input (std_msgs/Int32)

• Publishes the current active input topic at 1Hz.

current_output (std_msgs/Int32)

• Publishes the current active output topic at 1Hz.

Parameters

input_topics (dictionary)

• Description of input topics.

output_topics (list of strings)

• List of output topic names.