Awesome
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:floppy_disk: t07_teleop
Keyboard based teleoperation for the T07 mobile outdoor robot.
Use W-A-S-D for driving forward, backward and turning. Use Space to stop.
How-to-build
Note: Don't forget to install the dependencies.
cd $COLCON_WS/src
git clone --recursive https://github.com/107-systems/t07_teleop
cd $COLCON_WS
source /opt/ros/humble/setup.bash
colcon build --packages-select t07_teleop
How-to-run
cd $COLCON_WS
. install/setup.bash
ros2 launch t07_teleop teleop.py
Interface Documentation
Published Topics
| Default name | Type | Description |
|---|---|---|
/motor/left/target | std_msgs/Float32 | Motor left set-point in m/s |
/motor/right/target | std_msgs/Float32 | Motor right set-point in m/s |
Subscribed Topics
| Default name | Type | Description |
|---|
Parameters
| Name | Default | Description |
|---|---|---|
motor_left_topic | motor/left/target | |
motor_left_topic_deadline_ms | 100 | |
motor_left_topic_liveliness_lease_duration | 1000 | |
motor_right_topic | motor/right/target | |
motor_right_topic_deadline_ms | 100 | |
motor_right_topic_liveliness_lease_duration | 1000 |
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