pr2_teleop Documentation

pr2_teleop

The pr2_teleop package

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_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):

Publishes to (name / type):

ROS parameters


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):

Publishes to (name / type):

ROS parameters



pr2_teleop
Author(s):
autogenerated on Wed Sep 11 2019 04:02:55