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Overview

The teleop_flyer node primarily forwards joy/Joy messages from a ground station to the control mode nodes running onboard. It should always be running. It also independently republishes the status of the joystick trigger on a separate topic (~motor_enable); this can be used as a safeguard in downstream nodes.

ROS API

teleop_flyer

Teleoperation. Forwards joystick messages to control modes and translates some button presses as commands.

Subscribed Topics

joy (joy/Joy)

• Operator joystick messages

controller/status (flyer_controller/controller_status)

• Status information from controller node

Published Topics

~joy (joy/Joy)

• Republished operator joystick messages

~controller_cmd (flyer_controller/controller_cmd)

• Commands for controller node

~motor_enable (std_msgs/Bool)

• Motor enable, set true only when trigger is pressed

~estop (std_msgs/Bool)

• Emergency stop output

Parameters

~joy_republish_rate (double, default: 20.0)

• Rate in Hz at which to republish joystick messages

~max_interval (double, default: 0.5)

• Maximum allowed time between consecutive joystick messages