Awesome
<a href="https://107-systems.org/"><img align="right" src="https://raw.githubusercontent.com/107-systems/.github/main/logo/107-systems.png" width="15%"></a>
:floppy_disk: l3xz_teleop
Teleoperation for L3X-Z via PS3 joystick and ROS topics.
<p align="center"> <a href="https://github.com/107-systems/l3xz"><img src="https://raw.githubusercontent.com/107-systems/.github/main/logo/l3xz-logo-memento-mori-github.png" width="40%"></a> </p>How-to-build
Note: Don't forget to install the dependencies.
cd $COLCON_WS/src
git clone https://github.com/107-systems/l3xz_teleop
cd $COLCON_WS
source /opt/ros/humble/setup.bash
colcon build --packages-select l3xz_teleop
How-to-run
cd $COLCON_WS
. install/setup.bash
ros2 launch l3xz_teleop teleop.py
Check the content of the published message via:
ros2 topic list
/* ... */
ros2 topic echo /l3xz/cmd_vel_robot
Interface Documentation
Subscribed Topics
| Default name | Type |
|---|---|
/l3xz/joy | sensor_msgs/Joy |
Published Topics
| Default name | Type |
|---|---|
/l3xz/cmd_vel_robot | geometry_msgs/Twist |
/l3xz/cmd_vel_head | geometry_msgs/Twist |
/l3xz/cmd_robot/req_up | std_msgs/Bool |
/l3xz/cmd_robot/req_down | std_msgs/Bool |
Parameters
| Name | Default | Description |
|---|---|---|
joy_topic | joy | Name of topic from where we are subscribing joystick messages. |
joy_topic_deadline_ms | 100 | Deadline in milliseconds within which a new joystick message is expected. |
joy_topic_liveliness_lease_duration | 1000 | The time within which the RMW node or publisher must show that it is alive. |
robot_topic | cmd_vel_robot | Name of topic for controlling L3X-Z forward/angular speed (linear.x/, angular.z). |
robot_topic_publish_period_ms | 100 | Publishing period for robot messages in milliseconds (ms). |
head_topic | cmd_vel_head | Name of topic for controlling L3X-Z sensor head (angular.y/, angular.z) in degree per second (dps). |
head_topic_publish_period_ms | 50 | Publishing period for head messages in milliseconds (ms). |
head_topic_deadline_ms | 100 | Deadline in milliseconds within which a new head message should be published. |
head_topic_liveliness_lease_duration | 1000 | The time within which the RMW node or publisher must show that it is alive. |
robot_req_up_topic | cmd_robot/req_up | Name of topic for requesting L3X-Z to stand up. |
robot_req_up_topic_publish_period_ms | 250 | Publishing period for stand up request messages in milliseconds (ms). |
robot_req_down_topic | cmd_robot/req_down | Name of topic for requesting L3X-Z to sit down. |
robot_req_down_topic_publish_period_ms | 250 | Publishing period for sit down request messages in milliseconds (ms). |
pan_max_dps | 10.0° | Maximum target angular velocity for pan servo of the L3X-Z sensor head. |
tilt_max_dps | 10.0° | Maximum target angular velocity for tilt servo of the L3X-Z sensor head. |
Install dependencies
- Install
gsl-lite
git clone https://github.com/gsl-lite/gsl-lite && cd gsl-lite
mkdir build && cd build
cmake .. && make -j8
sudo make install
- Install
Catch2
git clone https://github.com/catchorg/Catch2 && cd Catch2
mkdir build && cd build
cmake .. && make -j8
sudo make install
- Install
fmt
git clone https://github.com/fmtlib/fmt && cd fmt
mkdir build && cd build
cmake -DFMT_TEST=OFF ..
make -j8
sudo make install