teleop_base Documentation

teleop_base

Teleoperation of a robot from keyboard and joystick.

Homepage: None

teleop_base teleoperation of a robot from keyboard and joystick.

ROS API

The two nodes, teleop_base and teleop_base_keyboard, are designed primarily to drive the base of the PR-2. Teleop_base can also able to drive the spine and head.

List of nodes:

• teleop_base
• teleop_base_keyboard

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teleop_base_keyboard

teleop_base_keyboard can teleoperate a diff-drive robot using a keyboard.

Usage

$ teleop_base_keyboard [standard ROS args]

Key mappings are printed to screen on startup. Press any unmapped key to stop the robot.

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ROS topics

Subscribes to (name/type):

• None

Publishes to (name / type):

• "cmd_vel"/Twist : velocity to the robot; sent on every keypress.

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ROS parameters

• None

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teleop_base

teleop_base teleoperate a robot's base using a joystick.

X - Forward Y - Left Angle Z - Yaw Rate CCW

Usage

$ teleop_base --deadman_no_publish [standard ROS args]

"--deadman_no_publish" is optional. If set, the node will only publish if the deadman is depressed.

ROS topics

Subscribes to (name / type):

• "joy/Joy" : ROS joystick topic

Publishes to (name / type):

• "cmd_vel/Twist" : velocity to the pr2 base; sent on every keypress.

ROS parameters

• "max_vx" : double Maximum (walking) X velocity
• "max_vy" : double Maximum (walking) Y velocity
• "max_vw" : double Maximum (walking) Z angular velocity

• "max_vx_run" : double Maximum (running) X velocity
• "max_vy_run" : double Maximum (running) Y velocity
• "max_vw_run" : double Maximum (running) Z angular velocity

• "deadman_button" : int Button that enables joystick commands. No commands will work without deadman button depressed
• "run_button" : int Base moves at maximum of "run" velocities.