Difference between revisions of "ROS Teleop"

Revision as of 13:09, 15 December 2015

Investigate

Background

• Writing TelopNode Tutorial
• Write a Generic Teleoperation Node Tutorial

Packages

 aptitude search joy
 aptitude search teleop

 ros-indigo-joy-teleop package       - A (to be) generic joystick interface to control a robot
 ros-indigo-teleop-twist-joy package - Generic joystick teleop for twist robots.
 ros-indigo-key-teleop               - A text-based interface to send a robot movement commands
 ros-indigo-teleop-tools             - A set of generic teleoperation tools for any robot.
 ros-indigo-teleop-tools-msgs        - The teleop_tools_msgs package 
 ros-indigo-teleop-twist-keyboard    - The teleop_twist_keyboard package
 ros-indigo-turtlebot-teleop         - Provides teleoperation using joysticks or keyboard.

ros-indigo-joy-teleop

References

• ROS Documentation
• Setting Parameters
• Launching joy-teleop
• example launch file
• example yams file

Install

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

Run

Did the following to find executables:

The result was joy_leleop.py which lead to the rosrun command below.

 dpkg -L ros-indigo-joy-teleop
     ...
     /opt/ros/indigo/lib/joy_teleop
     /opt/ros/indigo/lib/joy_teleop/joy_teleop.py
     /opt/ros/indigo/lib/joy_teleop/incrementer_server.py
     ...

In the first terminal.

 rosparam set joy_node/dev "/dev/input/js0"
 rosrun joy joy_node

In the second terminal.

 rosrun joy_teleop joy_teleop.py
     [FATAL] [WallTime: 1450196955.332980] no configuration was found, taking node down

This should be fixable using the above reference links. Moving on to the twist package because it may be a better option based on those links.

ros-indigo-teleop-twist-joy

References

• ROS Repository
• Git
• ROS Docs
• teleop_twist_joy.cpp
• Arch Linux Documentation
• Raspberry Pi

Install

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

Experiments

 dpkg -L ros-indigo-teleop-twist-joy
 emacs /opt/ros/indigo/share/teleop_twist_joy/launch/teleop.launch&
 cd catkin_ws_indigo/
 mkdir launch
 cd launch/
 show ros-indigo-teleop-twist-joy

Running experiments

 roslaunch teleop.launch

another window tried these

 rostopic list
 rostopic echo cmd_vel
 rostopic echo joy

To Investigate

ros-indigo-teleop-tools

• Raspberry Pi