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turtlebot_apps: turtlebot_actions | turtlebot_calibration | turtlebot_follower | turtlebot_navigation | turtlebot_sounds | turtlebot_teleop

Package Summary

Provides teleoperation using joysticks or keyboard.

• Author: Melonee Wise
• License: BSD
• Repository: turtlebot-ros-pkg
• Source: hg https://kforge.ros.org/turtlebot/turtlebot_apps

Use

The turtlebot_teleop package provides launch files for teleoperation with different input devices.

• For a generic linux joystick use:

  • roslaunch turtlebot_teleop joystick_teleop.launch

  For a keyboard teleoperation use:

  • roslaunch turtlebot_teleop keyboard_teleop.launch

  For a ps3 joystick use:

  • roslaunch turtlebot_teleop ps3_teleop.launch

Nodes

turtlebot_teleop_joy

The turtlebot_teleop_joy provides a generic Linux joystick node.

Subscribed Topics

joy (sensor_msgs/Joy)

• Listens to the joystick state.

Published Topics

cmd_vel (geometry_msgs/Twist)

• Outputs command velocity to the TurtleBot.

Parameters

~axis_linear (int, default: 1)

• The axis for commanding a linear velocity.

~axis_angular (int, default: 0)

• The axis for commanding a angular velocity.

~axis_deadman (int, default: 4)

• The axis for providing a deadman switch.

~scale_linear (double, default: 0.3)

• The amount to scale the joystick input for the command velocity output.

~scale_angular (double, default: 0.9)

• The amount to scale the joystick input for the command velocity output.