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Teleoperation package for Free Look Control

Setup

Parameters are read from ROS parameter server on launch, available parameters are listed below, with default value:

  • Publishing to:
    • ~joy_topic (default: 'flc_joy')
    • ~odom_topic (default: 'odom')
    • ~virtual_camera_topic (default: 'viz/virtual_camera')
    • ~output_base (default: 'cmd_vel')
    • ~camera_pan_topic (default: 'camera_pan')
    • ~camera_tilt_topic (default: 'camera_tilt')
  • Parameters:
    • ~ugv_L (default: 0.15)
    • ~ugv_d (default: 0.42)
    • ~vel_max (default: 0.3)
    • ~ang_max (default: 0.3)
    • ~pan_offset (default: -54.0)
    • ~tilt_offset (default: 90.0)

Launch

This can either be run as a normal node, or using ActionLib. In case of ActionLib, it is necessary to have a client call the server for FLC to start and publish data.

Using

Intended to be used with an Xbox 360 Wired controller (currently only tested with Xbox One controller). LB is used as deadmans button.

  • Deadmans button needs to be pressed in order to move the robot and/or camera.
  • Left joystick translate the platform (relative to camera orientation),
  • Right joystick controls camera pan and tilt.