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Only released in EOL distros:  

segwayrmp: rmp_base | rmp_description | rmp_msgs | rmp_teleop

Package Summary

The rmp_teleop package provides teleoperation functionalities for a Segway Robotics Mobility Platform. This package currently supports the xbox wireless joytsick.

Overview

The rmp_teleop package provides teleoperation functionalities for a Segway Robotics Mobility Platform.

This package currently supports the xbox wireless joytsick.

Quick Start

$ roslaunch rmp_teleop joystick.launch

Node

joy_node

Modified version of joy (http://wiki.ros.org/joy). The node won't publish any messages if no event is received within a certain period.

rmp_teleop_node

ros interface to control a Segway RMP 440LE.

Subscribed Topics

/rmp440le/joy (sensor_msgs/Joy)

Published Topics

/rmp440le/base/vel_cmd (geometry_msgs/TwistStamped) /rmp440le/deadman (rmp_msgs/BoolStamped) /rmp440le/audio_cmd (rmp_msgs/AudioCommand)

Parameters

joy_topic (string, default: rmp440le/joy) velocity_command_topic (string, default: /rmp440le/base/vel_cmd) deadman_topic (string, default: /rmp440le/deadman) audio_command_topic (string, default: /rmp440le/audio_cmd) update_frequency (double, default: 50.0) translational_velocity_scale (double, default: 2.2352) rotational_velocity_scale (double, default: 3.0) translational_velocity_boost_scale (double, default: 8.0) rotational_velocity_boost_scale (double, default: 4.4)

Controller Usage

https://github.com/sri-robotics/segwayrmp/blob/master/rmp_teleop/xbox_controller_usage.pdf


2019-10-19 13:05