Difference between revisions of "ROS Teleop"
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Revision as of 18:38, 17 December 2015
Contents
Investigate
Background
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-teleop-twist-joy
References
Install
sudo apt-get install ros-indigo-teleop-twist-joy
Setup
For the Logitech G-UF13A (PID VV811) joystick.
In <somewhere>/launch put the file teleop.launch.
In /opt/ros/indigo/share/teleop_twist_joy/config/ put the file floorHugger.config.yaml.
Run
In first terminal.
roscore
In second terminal.
cd <somewhere>/launch roslaunch teleop.launch
In a third terminal.
rosrun phidgets motor_control_hc
Experiments
The following experiments were done to determine how the package worked.
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/ sudo cp /opt/ros/indigo/share/teleop_twist_joy/launch/teleop.launch . apt-cache show ros-indigo-teleop-twist-joy
Running experiments
roslaunch teleop.launch
In another terminal I tried these
rostopic list
The above listed the cmd_vel and joy messages.
rostopic echo joy
The above showed continuous snapshots of the joy message.
rostopic echo cmd_vel
The above showed expected twist messages but only when the "9" bittpm (or 10 internal) was pressed in conjunction with the left joystick. See below for example output. How do you make it work without pressing the button?
linear:
x: 0.7
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.111364662647
ros-indigo-joy-teleop
The following is not used but appears for reference only.
References
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. Chose the twist package above because it may be a better option based on those links.
