About | Support | answers.ros.org	Search:

clearpath_common: clearpath_base | clearpath_bringup | clearpath_sensors | clearpath_teleop

Package Summary

The clearpath_teleop package contains basic nodes used to quickly launch your Clearpath Robotics platform with a joystick control.

• Author: Mike Purvis
• License: BSD
• Repository: clearpath-ros-pkg
• Source: svn http://clearpath-ros-pkg.googlecode.com/svn/trunk/clearpath_common/clearpath_teleop

Nodes

teleop.py

The teleop.py node consumes Joy messages and produces Twist commands for a mobile base.

Subscribed Topics

joy (joy/Joy)

• Receives joystick state.

Published Topics

cmd_vel (geometry_msgs/Twist)

• Outputs motion command.

Parameters

~turn_scale (double)

• Amount by which to multiply 0..1 joystick x-axis in order to obtain turn speed command in rads/s.

~drive_scale (double)

• Amount by which to multiply 0..1 joystick y-axis in order to obtain linear drive speed command in m/s.

~deadman_button (int, default: 0)

• Index of button which must be depressed in order to broadcast command messages.

~hz (double, default: 20)

• Frequency with which to broadcast command messages.