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  1. Overview


This package provides a convenient gamepad-based control option for quadrotor UAVs and similar vehicles. The stick setup in the launch files is similar to the "Mode 2" setup commonly used on RC helicopters as described here. The node publishes geomety_msgs/Twist messages on the /cmd_vel topic, so the stick input corresponds to desired linear and angular velocities.

We currently provide two launch files:

Have a look at one of these for instructions on how to make a launch file for your own controller.

Other than those two, one is available for controlling it with keyboard and the source code for the same can be taken from the following git.

Hector Keyboard Teleop

This is currently under development and has been verified only with Indigo. I t will be tested for other versions soon.

2024-07-20 13:21