<<PackageHeader(otl_android_roomba_app)>>
<<TOC(4)>>

== Overview ==
This is App Chooser version of [[otl_android_roomba]].
You may be able to use this app with your turtlebot.

 <<Youtube(lWmGXgDEOPQ)>>

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 ==
{{{
#!clearsilver CS/NodeAPI
name = Tilt Teleop (Android App)
desc = Publishes cmd_vel by tilting the device.
pub {
0.name = /cmd_vel
0.type = geometry_msgs/Twist
0.desc = Velocity of robot (roomba).  you can remap this by editting roomba.app file.
1.name = /roomba/clean
1.type = std_msgs/Bool
1.desc = start cleaning or stop.
2.name = /roomba/dock
2.type = std_msgs/Bool
2.desc = 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.

## AUTOGENERATED DON'T DELETE
## CategoryPackage