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Only released in EOL distros:  

rail_youbot: rail_youbot_description | rail_youbot_launch | rail_youbot_teleop

Package Summary

The rail_youbot_teleop package contains nodes to control the youBot base via a joystick.

About

The rail_youbot_teleop package contains a node that can be used to teleoperate a Kuka youBot with a joystick. The node is responsible for converting sensor_msgs/Joy messages into geometry_msgs/Twist messages. A launch file is also included to launch both the teleoperation node and the joy stick listener node.

Nodes

youbot_joy_teleop

youbot_joy_teleop can control the motors of a Kuka youBot using a joystick. This node listens to a joy topic and sends messages to the cmd_vel topic. The left and right joysticks control the movement of the youBot. An example gamepad is shown to the right with its buttons labeled. youbot_teleop_joy.png

Subscribed Topics

joy (sensor_msgs/Joy)

Published Topics

cmd_vel (geometry_msgs/Twist)

Installation

Before installing the rail_youbot stack, be sure to install the necessary dependencies. Instructions on installing the various youBot packages can be found in this tutorial.

To install the rail_youbot stack, simply run the following commands in your shell:

Startup

The rail_youbot_teleop package contains a youbot_joy_teleop.launch that can be used to control your robot. This file launches an instance of the youbot_joy_teleop and joy_node nodes. To launch these nodes, the following command can be used:

You should now be able to teleoperate your youBot with a joystick.

Support

Please send bug reports to the GitHub Issue Tracker. Feel free to contact me at any point with questions and comments.


wpi.png

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2019-09-21 13:03