Only released in EOL distros:   fuerte

About

The rail_youbot_teleop package contains a node that can be used to teleoperate a Kuka youBot with a joystick. The node is responsible for converting sensor_msgs/Joy messages into geometry_msgs/Twist messages. A launch file is also included to launch both the teleoperation node and the joy stick listener node.

Nodes

youbot_joy_teleop

youbot_joy_teleop can control the motors of a Kuka youBot using a joystick. This node listens to a joy topic and sends messages to the cmd_vel topic. The left and right joysticks control the movement of the youBot. An example gamepad is shown to the right with its buttons labeled.

Subscribed Topics

• Listens for joystick commands.

Published Topics

• Control the movement of the Rovio using the left and right joysticks.

Installation

Before installing the rail_youbot stack, be sure to install the necessary dependencies. Instructions on installing the various youBot packages can be found in this tutorial.

To install the rail_youbot stack, simply run the following commands in your shell:

•    1 cd /path/to/your/local/ros/stacks
     2 git clone https://github.com/WPI-RAIL/rail_youbot.git
     3 roscd rail_youbot
     4 rosmake rail_youbot
  

Startup

The rail_youbot_teleop package contains a youbot_joy_teleop.launch that can be used to control your robot. This file launches an instance of the youbot_joy_teleop and joy_node nodes. To launch these nodes, the following command can be used:

• roslaunch rail_youbot_teleop youbot_joy_teleop.launch

You should now be able to teleoperate your youBot with a joystick.

Support

Please send bug reports to the GitHub Issue Tracker. Feel free to contact me at any point with questions and comments.

• Russell Toris

  • rctoris@wpi.edu

  • Academic Website