universal_teleop package from universal_teleop repo


Package Summary

Tags No category tags.
Version 0.1.0
License GPLv2
Build type CATKIN

Repository Summary

Checkout URI https://github.com/lrse/ros-universal-teleop.git
VCS Type git
VCS Version master
Last Updated 2015-03-12

Package Description

Allows keyboard/joystick control of any robot by means of geometry_msgs::Twist messages

Additional Links

No additional links.


  • v01d


  • v01d

= Description =

The purpose of this node is to allow a transparent layer for tele-operating robots, re-configurable and which does not depend on a particular robot. Both terrestrial and aerial robots are supported. This node reads input from keyboard (using the corresponding node) and joystick. Button and axis can be associated to "actions" and axis controls. The output is a geometry_msgs/Twist message, which is standard for controlling robots. The node will only emit velocity commands when the "override" is enabled (a special event) by the corresponding button/key. This allows the universal_teleop to co-exist with other nodes which control a robot autonomously. Whenever the "override" event is fired, this event can be received from any other node, disabling autonomous control and letting universal_teleop to control the robot. Furthermore, the requirement for this "override" to manually control the robot functions as a dead man's switch. If the joystick falls to the floor, the override will be released and the robot will be stopped.

= Topics =

== Subscribed ==

/joy (joy/Joy): input from joystick, reading buttons and axis

/keyboard/keyup, /keyboard/keydown (keyboard/Key): input from keyboard, key-up and key-down events respectively

== Advertised ==

/robot/cmd_vel (geometry_msgs/Twist): output velocity commands to robot

~events (universal_teleop/Event): output events

~controls (universal_teleop/Control): output controls

/robot/takeoff, /robot/land, /robot/reset: special commands used on aerial-robots for controlling takeoff and landings


Changelog for package universal_teleop

0.1.0 (2014-06-08)

  • launch files
  • tidy up for release
  • added axis scaling; robot now stops after override is released
  • launch files for ardrone; changes for ardrone(_autonomy); changed defaults
  • fix for hydro
  • first version
  • Contributors: v01d

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