Scitos teleop

Set-up

This is just a simple example set-up and might differ from yours. If you are familiar with ROS and/or using one of the set-up files from strands_systems you can skip this part.

• Create a ros workspace: mkdir -p ros-ws/src && cd ros-ws/src
• Clone the github repository: git clone https://github.com/strands-project/scitos_apps.git
• Setting up the catkin workspace: in ros-ws/src run catkin_init_workspace
  • Change to the root directory of the repository which is ros-ws in our case.
  • Make sure that scitos_apps is in the same workspace as scitos_common or is overlaying the scitos_common workspace to enable the emergency stop for the robot.
  • Run catkin_make in ros-ws (catkin_make builds all binary files and creates environment variables like the setup.bash) Now everything should be built and you go to the next part which describes the usage of the scitos_teleop package.

Usage:

Launch files:

• Source the environment variables source devel/setup.bash
• Run one of the following launch files:
• teleop_joystick_core.launch: This launches the core functionalities of the rumblepad: emergency stop, motor reset, freerun and the action button topic is published.
• teleop_joystick_just_[base/head].launch: This launches teleop_joystick_core.launch and the control for the head or base depending on the file you choose.
• teleop_joystick.launch: This launches all the functionalities of the rumblepad and gives you fulkl control.
• teleop_joystick_mux.launch: This launches all the functionalities of the rumblepad and relies on the scitos_cmd_vel_mux (see Scitos-cmd_vel_mux).

Buttons: See Cheat Sheet