| Note: This assumes that you have installed nxt using the instructions at nxt/Installation. |
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Assisted Teleop Video Demo
Description: This is the demo shown in the announcement video.Keywords: nxt assisted teleop
Tutorial Level: INTERMEDIATE
Contents
This assumes that you have installed nxt using the instructions at nxt/Installation
Build
rosmake nxt nxt_apps nxt_robots
Run the robot
Having built the sensor car.
In terminal 1:
roslaunch nxt_robot_sensor_car robot.launch
In terminal 2:
roslaunch nxt_assisted_teleop assisted_teleop.launch
This launch file uses joy_node so that the robot can be operated with a joystick. If you would like to use the keyboard for operating the robot, you can simply replace these lines in assisted_teleop.launch:
<!-- joy node -->
<node respawn="true" pkg="joy"
type="joy_node" name="nxt_joy" >
<param name="dev" type="string" value="/dev/input/js0" />
<param name="deadzone" value="0.12" />
<param name="autorepeat_rate" value="10.0" />
</node>
<!-- teleop node -->
<node pkg="nxt_teleop" type="nxt_teleop_joy" name="nxt_teleop" output="screen">
<param name="axis_linear" value="3" type="int"/>
<param name="axis_angular" value="0" type="int"/>
<param name="axis_deadman" value="4" type="int"/>
<param name="scale_linear" value="1" type="double"/>
<param name="scale_angular" value="1" type="double"/>
<remap from="cmd_vel" to="teleop_cmd_vel"/>
</node>with these lines:
<!-- keyboard teleop node -->
<node pkg="nxt_teleop" type="nxt_teleop_key" name="nxt_teleop" output="screen">
<param name="scale_linear" value="1" type="double"/>
<param name="scale_angular" value="1" type="double"/>
<remap from="cmd_vel" to="teleop_cmd_vel"/>
</node>In terminal 3:
rosrun rviz rviz
In rviz do the following:
- Enable nxt_rviz_plugins in the plugin menu.
- Add NTXUltrasonicDisplay and set its topic to "/ultrasonic_sensor"
In "Global Options" set the "Fixed Frame" to '/odom_combined" and "Target Frame" to <Fixed Frame>
- Turn on the "Grid" display
- Add "Grid Cells" display and set its topic to "assisted_teleop/costmap/obstacles"
- Add "Grid Cells" display and set its topic to "assisted_teleop/costmap/inflated_obstacles". Change Color to, say blue.
