ROS Control Teleop from EEE PC

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Adams Installs

See ROS_Teleop for install joy stick support. In particular the following was installed on Adams. This also install the core joy stick packages. 

 sudo apt-get install ros-indigo-teleop-twist-joy

Adams Setup

Joystick

See Joystick. Tests passed.

Teleop Twist

See ROS Teleop setup.

  • Created the launch script.
  • Created the floorHugger.config.yaml

Test Motors

Test using tutorial material.

In hood terminal one. 

 roscore

In terminal two. 

 ROS_MASTER_URI=http://hood:11311
 rosrun phidgets motor_control_hc

In adams terminal 

 ROS_MASTER_URI=http://hood:11311
 rostopic pub -1 /cmd_vel geometry_msgs/Twist '[5,0,0]' '[0,0,0]'

Results were that motors are running on hood.

Teleop

Modify the actions in the adams terminal as follows. 

 ROS_MASTER_URI=http://hood:11311
 roslaunch teleop.launch

This is working. Question - is there a exclusive connection between /vel_cmd subscribers and publishers? Read this more carefully ROS Technical Overview

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