Overview

Provides a keyboard teleoperation control for your robot. Just enables a simple increase velocity mechanism both linearly and angularly as well as power off and power on functions.

Published Topics

yocs_keyop/cmd_vel (geometry_msgs/Twist)

Sends command velocities to the mobile base interface.

yocs_keyop/enable (std_msgs/String)
yocs_keyop/disable (std_msgs/String)

Send power-off and power-on commands to the robot core.

Usage

Use a launcher to fire up the keyop command as this will allow you to map the above topics to the appropriate namespace.

<launch>
    <node pkg="yocs_keyop" type="keyop" name="yocs_keyop">
        <remap from="yocs_keyop/enable" to="/my_robot/enable"/>
        <remap from="yocs_keyop/disable" to="/my_robot/disable"/>
        <remap from="yocs_keyop/vel_cmd" to="/my_robot/cmd_vel"/>
    </node>
</launch>

You may wish to change the remappings to suit the currently running robot. You can initiate with

roslaunch yocs_keyop robot_core.launch

and use the arrow keys to navigation, with 'e', 'd' to enable or disable the motors and 'q' to quit.