tele_mobile Documentation

tele_mobile: tele_mobile

A package for teleoperation controls of segway, zenither, and dynamixel servos.

• Homepage: http://ros.org/wiki/tele_mobile

tele_mobile is design to control the mobile base of Cody, the two-arm robot in the Healthcare Robotics Lab. It allows a joystick at the master console to control of pan&tilt servos, the linear actuator, and the Segway Omni base on Cody.

rosapi

List of nodes:

• joystick
• platform

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node_name

joystick node sends out the command information from the joystick control.

topics

Publishes to:

• "tmobile": [msg/direction] ; contains the x, y, and rotation information of the mobile base, direction of the linear actuator movement, standby function, and the angles of the pan and tilt servos.

node_name

platform node receives the joystick command information and controls the components of the mobile platform on Cody.

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topics

Subscribes to:

• "tmobile": [msg/direction]

commandline

• roslaunch tmobile.launch files on the master PC will initiate both nodes.