<<PackageHeader(leo_teleop)>>
<<TOC(4)>>

== Overview ==
This package can be used to control a real or simulated [[Robots/Leo Rover|Leo Rover]] with a keyboard or a joystick.

== Usage ==
To control the robot with a keyboard, simply type on the terminal (on your computer or on the robot via SSH):
{{{
rosrun leo_teleop key_teleop
}}}
This will run the [[teleop_twist_keyboard]] node (with some parameters set) which will print the key mapping at the start. For best performance, set the keyboard repeat delay on your system below 300ms.

To control the robot with a joystick, use:
{{{
roslaunch leo_teleop joy_teleop.launch
}}}
If your joystick device is available on a path other than `/dev/input/js0`, you can specify it using the `joy_dev` argument, for example:
{{{
roslaunch leo_teleop joy_teleop.launch joy_dev:=/dev/input/js1
}}}
The default joy button and axis mapping was created for Xbox 360 Controller and it looks as follows:
|| RB button || Hold it to publish velocity commands to the robot ||
|| Up/Down Axis stick left || Control linear speed of the robot ||
|| Left/Right Axis stick right || Control angular speed of the robot ||
If you would like to use custom mapping, set the `joy_config_file` argument to a path of a YAML file containing parameters for [[teleop_twist_joy]] node.

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