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| desc = ||<tablewidth="100%" tablestyle="text-align:left">`rovio_teleop` can control the motors and head of a Rovio using the keyboard. Once running the following keys can be used to control to robot: the `w`, `a`, `s`, and `d` keys can be used to move the Rovio forwards, left, backwards, and right respectively; the `q` and `e` keys can be used to rotate left and right respectively; the [`1`-`0`] keys can be used to set the speed in the range [1, 10] respectively (with 1 being the fastest); the `,`, `.`, and '/' keys can be used to set the head in the down, middle, and up positions receptively. || {{attachment:rovio_teleop_joy.gif}} || | desc = ||<tablewidth="100%" tablestyle="text-align:left">`rovio_teleop` can control the motors, head, and audio device of a Rovio using a joystick. This node listens to a `joy` topic and sends messages to the `cmd_vel` topic in the [[rovio_move]] node, `head_ctrl` service in the [[rovio_head]] node, and `wav_play` service in the [[rovio_audio]] node. Buttons `0`, `1`, and `2` of a joystick control the head, buttons `4`, `5`, `6`, and `7` of a joystick play audio files on the Rovio, and the left and right joysticks control the movement of the Rovio. An example gamepad is shown to the right with its buttons labeled. || {{attachment:rovio_teleop_joy.gif}} || |
Only released in EOL distros:
rovio: rovio_av | rovio_ctrl | rovio_shared
Package Summary
Documented
The rovio_ctrl package contains nodes to control and query the motor and head position of a WowWee Rovio.
- Author: Russell Toris
- License: BSD
- Source: git https://github.com/WPI-RAIL/rovio.git (branch: fuerte-devel)
rovio: rovio_av | rovio_ctrl | rovio_shared
Package Summary
Released
Documented
Control and Query the Movement Devices on a WowWee Rovio
- Maintainer status: maintained
- Maintainer: Russell Toris <rctoris AT wpi DOT edu>
- Author: Russell Toris <rctoris AT wpi DOT edu>
- License: BSD
- Bug / feature tracker: https://github.com/WPI-RAIL/rovio/issues
- Source: git https://github.com/WPI-RAIL/rovio.git (branch: master)
rovio: rovio_av | rovio_ctrl | rovio_shared
Package Summary
Released
Documented
Control and Query the Movement Devices on a WowWee Rovio
- Maintainer status: maintained
- Maintainer: Russell Toris <rctoris AT wpi DOT edu>
- Author: Russell Toris <rctoris AT wpi DOT edu>
- License: BSD
- Bug / feature tracker: https://github.com/WPI-RAIL/rovio/issues
- Source: git https://github.com/WPI-RAIL/rovio.git (branch: master)
Contents
Nodes
rovio_move
rovio_move controls the motors of the Rovio.Subscribed Topics
man_drv (rovio_shared/man_drv)- Control the movement of the Rovio using movement and speed commands as defined by the Rovio API.
- Control the movement of the Rovio using a geometry_msgs/Twist message. A positive angular-z value corresponds to a clockwise rotation. Movement along linear-y corresponds to moving left/right and movement along linear-x corresponds to moving forwards/backwards.
Parameters
/rovio_shared/host (string)- Hostname used to communicate with the Rovio.
- Username used to authenticate with the Rovio.
- Password used to authenticate with the Rovio.
rovio_head
rovio_head publishes the position of the head as well as allows for head position control.Published Topics
head_sensor (std_msgs/String)- Current head position of the Rovio {"HEAD_UP", "HEAD_MIDDLE", "HEAD_DOWN"}.
Services
head_ctrl (rovio_shared/head_ctrl)- Change the position of the Rovio's head.
Parameters
/rovio_shared/host (string)- Hostname used to communicate with the Rovio.
- Username used to authenticate with the Rovio.
- Password used to authenticate with the Rovio.
rovio_teleop
| rovio_teleop can control the motors, head, and audio device of a Rovio using a joystick. This node listens to a joy topic and sends messages to the cmd_vel topic in the rovio_move node, head_ctrl service in the rovio_head node, and wav_play service in the rovio_audio node. Buttons 0, 1, and 2 of a joystick control the head, buttons 4, 5, 6, and 7 of a joystick play audio files on the Rovio, and the left and right joysticks control the movement of the Rovio. An example gamepad is shown to the right with its buttons labeled. |  |
Subscribed Topics
joy (sensor_msgs/Joy)- Listens for joystick commands.
Published Topics
cmd_vel (geometry_msgs/Twist)- Control the movement of the Rovio using the left and right joysticks.
Services Called
head_ctrl (rovio_ctrl/head_ctrl)- Change the position of the Rovio's head using buttons 0, 1, or 2 of a joystick.
- Play one of four predefined .wav files using buttons 4, 5, 6, or 7 of a joystick.
Parameters
/rovio_shared/rovio_wav (string)- Absolute path to the wav folder within the rovio_av package. This is used when playing audio files using buttons 4, 5, 6, or 7 of a joystick.
Startup
The rovio_ctrl package contains a ctrl.launch file which should be edited with the hostname, username and password to login to your Rovio. This files launches an instance of the rovio_move and rovio_head nodes. To launch these nodes, the following commands can be used:
Toggle line numbers
1 roscd rovio_ctrl
2 rosmake rovio_ctrl
3 roslaunch ctrl.launch
With the above nodes running, the keyboard teleoperation node (rovio_teleop) can be utilized with the following command:
Toggle line numbers
1 rosrun rovio_ctrl rovio_teleop
Support
Please feel free to contact me at any point with questions, comments, and bug reports.
