Overview

This is App Chooser version of otl_android_roomba. You may be able to use this app with your turtlebot.

You can use this with otl_roomba package.

How to use on Turtlebot

cd to your working ROS directory.

svn checkout https://otl-ros-pkg.googlecode.com/svn/trunk/otl_android

Add below into your mock_apps/turtlebot_apps.installed file.

 - display: Tilt Teleop
   app: otl_android_roomba_app/roomba

Access to your robot by App Chooser of your Android device, and select 'Tilt Teleop'. Enjoy!

Node Info

Tilt Teleop (Android App)

Publishes cmd_vel by tilting the device.

Published Topics

/cmd_vel (geometry_msgs/Twist)

• Velocity of robot (roomba). you can remap this by editting roomba.app file.

/roomba/clean (std_msgs/Bool)

• start cleaning or stop.

/roomba/dock (std_msgs/Bool)

• start docking to charge station of roomba

.app file

You can adjust velocity by editting otl_android_roomba_app/app/roomba.app file. Default setting is

    app:
      base_control_topic: /cmd_vel
      linear_rate: 0.08
      angular_rate: 0.2

linear_rate means velocity of linear.x, angular_rate is for angular.z.