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teleop_tools: joy_teleop | key_teleop
Package Summary
Released
Documented
A (to be) generic joystick interface to control a robot
- Maintainer status: maintained
- Maintainer: Bence Magyar <bence.magyar AT pal-robotics DOT com>
- Author: Paul Mathieu <paul.mathieu AT pal-robotics DOT com>
- License: BSD
- Source: git https://github.com/ros-teleop/teleop_tools.git (branch: hydro-devel)
teleop_tools: joy_teleop | key_teleop | teleop_tools_msgs
Package Summary
Released
Documented
A (to be) generic joystick interface to control a robot
- Maintainer status: maintained
- Maintainer: Bence Magyar <bence.magyar.robotics AT gmail DOT com>
- Author: Paul Mathieu <paul.mathieu AT pal-robotics DOT com>
- License: BSD
- Source: git https://github.com/ros-teleop/teleop_tools.git (branch: indigo-devel)
teleop_tools: joy_teleop | key_teleop | teleop_tools_msgs
Package Summary
Released
Documented
A (to be) generic joystick interface to control a robot
- Maintainer status: maintained
- Maintainer: Bence Magyar <bence.magyar.robotics AT gmail DOT com>
- Author: Paul Mathieu <paul.mathieu AT pal-robotics DOT com>
- License: BSD
- Source: git https://github.com/ros-teleop/teleop_tools.git (branch: indigo-devel)
teleop_tools: joy_teleop | key_teleop | teleop_tools_msgs
Package Summary
Released
Documented
A (to be) generic joystick interface to control a robot
- Maintainer status: maintained
- Maintainer: Bence Magyar <bence.magyar.robotics AT gmail DOT com>
- Author: Paul Mathieu <paul.mathieu AT pal-robotics DOT com>
- License: BSD
- Source: git https://github.com/ros-teleop/teleop_tools.git (branch: indigo-devel)
teleop_tools: joy_teleop | key_teleop | teleop_tools_msgs
Package Summary
Released
Documented
A (to be) generic joystick interface to control a robot
- Maintainer status: maintained
- Maintainer: Bence Magyar <bence.magyar.robotics AT gmail DOT com>
- Author: Paul Mathieu <paul.mathieu AT pal-robotics DOT com>
- License: BSD
- Source: git https://github.com/ros-teleop/teleop_tools.git (branch: indigo-devel)
teleop_tools: joy_teleop | key_teleop | mouse_teleop | teleop_tools_msgs
Package Summary
Released
Documented
A (to be) generic joystick interface to control a robot
- Maintainer status: maintained
- Maintainer: Bence Magyar <bence.magyar.robotics AT gmail DOT com>
- Author: Paul Mathieu <paul.mathieu AT pal-robotics DOT com>
- License: BSD
- Source: git https://github.com/ros-teleop/teleop_tools.git (branch: kinetic-devel)
teleop_tools: joy_teleop | key_teleop | mouse_teleop | teleop_tools_msgs
Package Summary
Released
Documented
A (to be) generic joystick interface to control a robot
- Maintainer status: maintained
- Maintainer: Bence Magyar <bence.magyar.robotics AT gmail DOT com>
- Author: Paul Mathieu <paul.mathieu AT pal-robotics DOT com>
- License: BSD
- Source: git https://github.com/ros-teleop/teleop_tools.git (branch: noetic-devel)
Contents
Usage
joy_teleop takes the output of the joy_node, and publishes topics or calls actions according to it's configuration. An example of using joy_teleop with TIAGo can be found on the video below.
ROS API
The ROS API consists of the configuration file, the input topic, and the several output topics and actionclients which get dyamically set up according to the configuration file.
Parameters
Parameters
~teleop (array, default: )- Array of axis/button to topic and action bindings
Example configuration file
teleop:
move:
type: topic
message_type: geometry_msgs/Twist
topic_name: cmd_vel
axis_mappings:
-
axis: 1
target: linear.x
scale: 1.0
-
axis: 2
target: angular.z
scale: 1.0
joy_priority:
type: action
action_name: joy_priority_action
buttons: [9]
joy_turbo_decrease:
type: action
action_name: joy_turbo_decrease
buttons: [1, 4, 5]
joy_turbo_increase:
type: action
action_name: joy_turbo_increase
buttons: [3, 4, 5]
torso_up:
type: action
action_name: /torso_controller/increment
action_goal:
increment_by: [0.05]
buttons: [4] # right pad, top button
torso_down:
type: action
action_name: /torso_controller/increment
action_goal:
increment_by: [-0.05]
buttons: [6] # right pad, bottom button
close_hand:
type: action
action_name: /play_motion
action_goal:
motion_name: 'close_hand'
skip_planning: True
buttons: [7]
Topic interface
Subscribed Topics
~joy (sensor_msgs/Joy)- Listens to the joystick state
