# neo_teleop¶

## Summary¶

The neo_teleop package provides a means to control a mobile platform by hand using a joystick or keyboard.

Reads /joy input and translates it into /cmd_vel messages.

Note

This node heavily depends on the joy_node .

## Topics¶

Publishes:

/cmd_vel

Subscribes:

/joy

## Parameters¶

Note

The default values for the axis sticks are based upon the mappings of the Logitech Wireless Gamepad F710. Please change the values according to the joystick vendor.

axis_linear_x:
 Type Default int 1
Description

Axis stick used for sending velocity commands in x-direction

axis_linear_y:
 Type Default int 0
Description

Axis stick used for sending velocity commands in y-direction

axis_angular_z:
 Type Default int 2
Description

Axis stick used for sending angular velocity

scale_angular_z:

 Type Default double 0.6
Description

Scaling factor for angular velocity. Extreme ends of the axis sticks spits out a value of 1 (sign depends on the direction).

scale_linear_x:
 Type Default double 0.4
Description

Scaling factor for linear velocity in X-direction. Extreme ends of the axis sticks spits out a value of 1 (sign depends on the direction).

scale_linear_y:
 Type Default double 0.4
Description

Scaling factor for linear velocity in Y-direction. Extreme ends of the axis sticks spits out a value of 1 (sign depends on the direction).

smooth_factor:
 Type Default double 0.2
Description

Low pass gain to smooth out the velocity commands originating from joystick.

 Type Default int 5
Description

Index of the button used for the joystick

joy_timeout:
 Type Default double 1.0
Description

Time interval between two velocity commands for which smoothing can be applied (s). If the second velocity command is applied after the specified duration, smoothing is not applied for the second velocity command. Since the first command is not relavent anymore, because the robot might have already decelerated, which might be as intended by the user.

## Launch Files¶

teleop.launch (teleop with joystick) teleop_keyboard.launch (teleop with keyboard)

## Install¶

git clone https://github.com/neobotix/neo_teleop.git