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Note: This assumes that you have installed nxt using the instructions at nxt/Installation.
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Assisted Teleop Video Demo

Description: This is the demo shown in the announcement video.


Keywords: nxt assisted teleop

Tutorial Level: INTERMEDIATE

This assumes that you have installed nxt using the instructions at nxt/Installation

Build

rosmake nxt nxt_apps nxt_robots

Run the robot

Having built the sensor car.

In terminal 1:

roslaunch nxt_robot_sensor_car robot.launch 

In terminal 2:

roslaunch nxt_assisted_teleop assisted_teleop.launch

This launch file uses joy_node so that the robot can be operated with a joystick. If you would like to use the keyboard for operating the robot, you can simply replace these lines in assisted_teleop.launch:

  <!-- joy node -->
  <node respawn="true" pkg="joy"
        type="joy_node" name="nxt_joy" >
    <param name="dev" type="string" value="/dev/input/js0" />
    <param name="deadzone" value="0.12" />
    <param name="autorepeat_rate" value="10.0" />
  </node>

  <!-- teleop node -->
  <node pkg="nxt_teleop" type="nxt_teleop_joy" name="nxt_teleop" output="screen">
    <param name="axis_linear" value="3" type="int"/>
    <param name="axis_angular" value="0" type="int"/>
    <param name="axis_deadman" value="4" type="int"/>
    <param name="scale_linear" value="1" type="double"/>
    <param name="scale_angular" value="1" type="double"/>
    <remap from="cmd_vel" to="teleop_cmd_vel"/>
  </node>

with these lines:

  <!-- keyboard teleop node -->
  <node pkg="nxt_teleop" type="nxt_teleop_key" name="nxt_teleop"  output="screen">
    <param name="scale_linear" value="1" type="double"/>
    <param name="scale_angular" value="1" type="double"/>
    <remap from="cmd_vel" to="teleop_cmd_vel"/>
  </node>

In terminal 3:

rosrun rviz rviz

In rviz do the following:


2019-12-07 12:53