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Package Summary

Generic joystick teleop for twist robots.

Package Summary

Generic joystick teleop for twist robots.

Package Summary

Generic joystick teleop for twist robots.

Overview

The purpose of this package is to provide a generic facility for tele-operating Twist-based ROS robots with a standard joystick. Examples of such platforms include TurtleBot, Husky, and Kingfisher.

This node provides no rate limiting or autorepeat functionality. It is expected that you take advantage of the features built into joy for this.

ROS API

The package comes with a node which may be used out of the box.

teleop_node

Republish Joy messages as scaled geometry_msgs/Twist messages.

Subscribed Topics

joy (sensor_msgs/Joy)

Published Topics

cmd_vel (geometry_msgs/Twist)

Parameters

~enable_button (int, default: 0) ~enable_turbo_button (int, default: -1) ~axis_linear (int, default: 1) ~scale_linear (double, default: 0.5) ~scale_linear_turbo (double, default: 1.0) ~axis_angular (int, default: 0) ~scale_angular (double, default: 1.0)

C++ API

The teleop translation functionality is embeddable, if you'd like to compile it into a larger "base" node for your robot. See the TeleopTwistJoy class for details or teleop_node.cpp for an example.


2019-10-12 13:11