pr2_teleop Documentation

pr2_teleop: Teleoperated the PR2

This package contains launch files for starting joystick or keyboard-based teleoperation (remote control) of the PR2.

Homepage: http://ros.org/wiki/pr2_teleop

teleop_pr2 teleoperation of a PR2 from keyboard and joystick. Teleops base, head, spine. No arm teleoperation currently.

Both nodes, teleop_pr2 and teleop_pr2_keyboard, are designed for limited control of a PR-2, like moving it from place to place and transport. This is not designed for immersive control of a PR-2.

ROS API

The two nodes, teleop_pr2 and teleop_pr2_keyboard, are designed primarily to drive the base of the PR-2. Teleop_pr2 can also able to drive the spine and head.

List of nodes:

• teleop_pr2
• teleop_pr2_keyboard

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teleop_pr2_keyboard

teleop_pr2_keyboard teleoperates a PR-2 base using keyboard commands. WASD controls X/Y, QE controls yaw. Shift to go faster.

Usage

$ teleop_pr2_keyboard [standard ROS args]

Key mappings are printed to screen on startup.

ROS topics

Subscribes to (name / type):

• None

Publishes to (name / type):

• "cmd_vel/Twist" : velocity to the pr2 base; sent on every keypress.

ROS parameters

• "walk_vel" : double Maximum (walking) velocity
• "run_vel" : double Maximum (runing) velocity
• "yaw_rate" : double Maximum (walking) yaw rate
• "yaw_run_rate" : double Maximum (running) yaw rate

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teleop_pr2

teleop_pr2 teleoperate a PR-2 using a joystick.

X - Forward Y - Left Angle Z - Yaw Rate CCW

Usage

$ teleop_pr2 --deadman_no_publish [standard ROS args]

"--deadman_no_publish" is optional. If set, the node will only publish if the deadman is depressed.

ROS topics

Subscribes to (name / type):

• "joy/Joy" : ROS joystick topic

Publishes to (name / type):

• "cmd_vel/Twist" : velocity to the pr2 base, sent on every keypress.
• "torso_lift_controller/set_command / Float64" : Velocity to PR2 torso (publishes only if torso_button param set)
• "head_controller/command / JointStates" : Position commands to PR-2 head (publishes only if head_button param set)

ROS parameters

• "max_vx" : double Maximum (walking) X velocity
• "max_vy" : double Maximum (walking) Y velocity
• "max_vw" : double Maximum (walking) Z angular velocity

• "max_vx_run" : double Maximum (running) X velocity
• "max_vy_run" : double Maximum (running) Y velocity
• "max_vw_run" : double Maximum (running) Z angular velocity

• "max_pan" : double Maximum head pan command (min is -1 * max)
• "max_tilt" : double Maximum head tilt command
• "min_tilt" : double Minimum head tilt command

• "tilt_step" : double Head tilt command increment. Position command is tilt_step * tilt_axis
• "pan_step" : double Head pan command increment. Position command is pan_step * pan_axis

• "deadman_button" : int Button that enables joystick commands. No commands will work without deadman button depressed
• "run_button" : int Base moves at maximum of "run" velocities when depressed.
• "torso_dn_button" : int Depress to command torso down
• "torso_up_button" : int Depress to command torso up
• "head_button" : int Depress to command head