teleop_head Documentation

teleop_head: Contains executable for teleoperation of PR2 head

Teleop head keyboard moves the head from keyboard commands. Used in pr2_head_cart. Only works on PR2 head.

Homepage: None

teleop_head teleoperation of a PR2 head from keyboard and joystick.

ROS API

The two nodes, teleop_head and teleop_head_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_head
• teleop_head_keyboard

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teleop_head_keyboard

teleop_head_keyboard teleoperates a PR-2 head using keyboard commands. WASD controls pan and tilt. Shift to go faster.

Usage

$ teleop_head_keyboard [standard ROS args]

Key mappings are printed to screen on startup.

ROS topics

Subscribes to (name / type):

• None

Publishes to (name / type):

• "head_controller/command"/JointCmd : velocity to the robot; sent on every keypress.

ROS parameters

• None

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teleop_head

teleop_head teleoperate a PR-2 head using a joystick.

Right stick tilts, left pans.

Usage

$ teleop_head --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):

• "head_controller/command / JointStates" : Position commands to PR-2 head

ROS parameters

• "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.