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_safe
- Author: Adrian Funk
- 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_safe
Contents
The keyboard_smooth_safe packages provides a keyboard teleop for the waiterbot which uses a modified joint driver to cause smoother movements and the proximity sensor to avoid collisions with the environment.
Get Started
To start the keyboard_smooth_safe teleop you first have to bring up the skin using
roslaunch skin_common bringup_skin.launch
Then you might want to make sure you have the right amount of patches set
rosrun skin_config skin_config
After these steps you are ready to run the teleop
roslaunch keyboard_smooth_safe keyboard_smooth_safe.launch
Use the arrow keys to move the robot aroun.
Parameters
The keyboard_smooth_safe node takes 3 parameters:
- scale_angular: The speed of turning the robot
- scale_linear: The speed of linear movement
- dbl_max_x_orientation: The maximum x orientation a patch is allowed to have before it is considered to be in the front (if the patch's x orientation is positive) or in the back (if the patch's orientation is negative). Patches in the "front" or in the "back" that are activated stop linear movements in this direction.