drink_serving: bosch_drawer_executive | busbot_bringup | busbot_description | busbot_driver | busbot_filter | busbot_gazebo | busbot_launch | busbot_navigation | busbot_node | ds_common_msgs | ds_master_executive | ds_pr2_2dnav | ds_pr2_drink_fetching_planner | ds_pr2_drop_drink | ds_pr2_fridge_drink_perception | ds_pr2_fridge_handle_detector | ds_pr2_fridge_manipulation_executive | ds_pr2_fridge_opener | ds_turtle_2dnav | ds_webinterface | keyboard_smooth | keyboard_smooth_safe | marker_detector_tbot | multi_robot_visualization
Package Summary
keyboard_smooth
- Author: Nikhil Deshpande
- License: BSD
- Repository: bosch-ros-pkg
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/drink_serving/keyboard_smooth
Contents
The keyboard_smooth package provides a smoothing function to control the teleop of the waiterBot. The application adds an s-curve to the velocity input to the waiterBot for smooth start-and-stop.
Get Started
To launch the application, use
roslaunch keyboard_smooth keyboard_smooth.launch
Parameters
The parameters set in the launch file are as follows:
scale_angular - scales the angular velocity input from the teleop
scale_linear - scales the linear velocity input from the teleop
range - the value at which the smoothing function stops
L_stepsize - stepsize for linear velocity to increment/decrement to the range value
A_stepsize - stepsize for angular velocity to increment/decrement to the range value