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Only released in EOL distros:  

mr_teleoperator: mr_rqt | mr_tools

Package Summary

Some useful nodes for multi-robot teleoperation

Overview

This package contains 2 nodes that communicate with the input devices and publishes geometry_msgs/Twist to an arbitrary number of output topics, which allows control over a multiple number of robots.

ROS API

joystick_teleoperator

Reads input data from an external physical joystick device, processes it, and publishes geometry_msgs/Twist with the corresponding output data.

Published Topics

joy_cmd_vel (geometry_msgs/Twist)

Parameters

dev (string, default: "/dev/input/js0")

velocity_dispatcher

Subscribes to a number of velocity input topics, and routes one selected input topic data, to the selected output topic. allows dynamic switching between of input/output channels via topics.

Subscribed Topics

*input_topics parameter* (geometry_msgs/Twist) set_input (std_msgs/Int32) set_output (std_msgs/Int32)

Published Topics

*input_topics parameter* (geometry_msgs/Twist) current_input (std_msgs/Int32) current_output (std_msgs/Int32)

Parameters

input_topics (dictionary) output_topics (list of strings)


2019-11-30 12:57