<> <> == Documentation == This package provides various nodes to teleoperate the BipedRobin robot by joystick. The use of a PS3 joystick is recommended but also other joysticks can be used after some minor adoptions. == Nodes == ## see http://www.ros.org/wiki/StyleGuide for how to use this macro {{{ #!clearsilver CS/NodeAPI node.0 { name = joystick_teleop desc = Generates desired velocities for given joystick inputs. If one wants to use different dead man keys or other axis to control the robot this node needs to be adopted sub { 0.name = joy 0.type = sensor_msgs/Joy 0.desc = Data from the joystick } pub { 0.name = cmd_vel 0.type = geometry_msgs/Twist 0.desc = Desired velocity for !BipedRobin (x,y, theta) } } node.1 { name = biped_teleop desc = Generates desired steps for given desired velocity. The area of allowed steps is hard coded in this node. sub { 0.name = cmd_vel 0.type = geometry_msgs/Twist 0.desc = Desired velocity for !BipedRobin (x,y, theta) 1.name = stepsLeftInBuffer 1.type = std_msgs/UInt8 1.desc = Number of steps left in the step buffer of !BipedRobin. A new step will only be sent if the buffer is empty. } pub { 0.name = desiredCenterPoint 0.type = geometry_msgs/PoseStamped 0.desc = Visualization of the desired center point of !BipedRobin (point between the two feet). } srv_called { 0.name = footstep3DInc_srv 0.type = biped_robin_msgs/StepTarget3DService 0.desc = Service is called to pass an incremental step to the step buffer of !BipedRobin. } } node.2 { name = carrot_teleop desc = Generates desired velocities so that the robot follows a carrot (actually a frame in the tf tree). pub { 0.name = cmd_vel 0.type = geometry_msgs/Twist 0.desc = Desired velocity for !BipedRobin (x,y, theta) } param { 0.name = ~carrot_frame_id 0.type = string 0.desc = Frame attached to the carrot (z-direction pointing up) 0.default = /carrot 1.name = ~base_frame_id 1.type = string 1.desc = Base frame of the robot (x-axes pointing forward, z-axes pointing upwards) 1.default = /base_footprint 2.name = ~carrot_distance_x 2.type = double 2.desc = Distance the robot keeps to the carrot. 2.default = -0.6 } req_tf{ 0.from = carrot 0.to = base_footprint 0.desc = carrot frame is set with '~carrot_frame_id' parameter, base_footprint frame is set with '~base_frame_id'. } } }}} == Launch Files == There are several launch files to start up the teleoperation: * '''joystick.launch '''- starts the joystick_teleop and biped_teleop nodes. * '''joystick_real.launch''' - like joystick.launch but also starts the drivers for BipedRobin * '''joystick_simulated.launch '''- like joystick.launch but also starts a simulation of BipedRobin. ## AUTOGENERATED DON'T DELETE ## CategoryPackage