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Note: This tutorial assumes that you have completed the previous tutorials: Pairing.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Run Interactions with QT Remocon

Description: shows start interactions via rqt remocon

Keywords: pairing, robot app manager,

Tutorial Level: INTERMEDIATE

Next Tutorial: Run Interactions with Android Remocon

Overview

QT Remocon provides an easy way to pair remote PC and the robot. It communicates with interactions manager to start client side interface and pair with robot(or rocon) app.

This tutorial assumes that you have started rocon_app_manager with Pairing, previous tutorial.

Prerequisite

Installation

Install rocon_remocon to use rocon_remocon and rqt_remocon

  > sudo apt-get install ros-indigo-rocon-remocon ros-indigo-rocon-apps

Interaction Configuration

This is interaction configuration for QT teleop. It configures PC GUI to start, its role, paired app to be started in robot, and others. Please check Interaction Specification for more details. Note that there are example interactions included in pairing.interactions in rocon_app_manager_tutorials.

Also note that, QT remocon can start global executable, roslaunch, and rosrunable applications.

   1 # Teleop testing
   2 - name: rocon_teleop 
   3   role: Pairing
   4   compatibility: rocon:/pc/*/hydro|indigo/precise|quantal|raring|saucy|trusty
   5   display_name: Qt Teleop
   6   description: Teleop'ing turtles via an rqt plugin.
   7   max: -1
   8   parameters:
   9     maximum_linear_velocity: 1.0 
  10     maximum_angular_velocity: 0.78
  11   remappings:
  12     - remap_from: cmd_vel
  13       remap_to: /turtle1/cmd_vel
  14     - remap_from: compressed_image
  15       remap_to: /cybernetic_pirate/compressed_image
  16   pairing:
  17     rapp: rocon_apps/video_teleop

Rqt Remocon

  > export ROS_MASTER_URI=http://<ROBOT_IP>:11311
  > export ROS_HOSTNAME=<PC_IP>
  > rqt_remocon

Role Chooser

Interaction Chooser

rolechoose.png

interaction_choose.png

Rocon Remocon

Rocon Remocon wraps Rqt Remocon with Master Chooser. So you can select a robot without configuring ROS_MASTER_URI.

Master Chooser

master_choose.png

Qt Teleop via Remocon

If you have started Example Rocon App Manager in rocon_app_manager_tutorials, you can choose teleop turtle in turtlesim.

qt_teleop_turtlesim.png

What's Next?


2019-09-21 13:04