neo_teleop2

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.

Location: https://github.com/neobotix/neo_teleop2

Note

This node heavily depends on the joy_node .

Topics

Publishes:

  • /cmd_vel (geometry_msgs/msg/TwistStamped)

Subscribes:

  • /joy (sensor_msgs/msg/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.
deadman_button:
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)