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Only released in EOL distros:   hydro

Overview

The rmp_teleop package provides teleoperation functionalities for a Segway Robotics Mobility Platform.

This package currently supports the xbox wireless joytsick.

Quick Start

$ roslaunch rmp_teleop joystick.launch

Node

joy_node

Modified version of joy (http://wiki.ros.org/joy). The node won't publish any messages if no event is received within a certain period.

rmp_teleop_node

ros interface to control a Segway RMP 440LE.

Subscribed Topics

/rmp440le/joy (sensor_msgs/Joy)

• joystick messages

Published Topics

/rmp440le/base/vel_cmd (geometry_msgs/TwistStamped)

• velocity command

/rmp440le/deadman (rmp_msgs/BoolStamped)

• deadman

/rmp440le/audio_cmd (rmp_msgs/AudioCommand)

• audio command

Parameters

joy_topic (string, default: rmp440le/joy)

• joystick topic

velocity_command_topic (string, default: /rmp440le/base/vel_cmd)

• velocity command topic

deadman_topic (string, default: /rmp440le/deadman)

• deadman topic

audio_command_topic (string, default: /rmp440le/audio_cmd)

• audio command topic

update_frequency (double, default: 50.0)

• process update rate

translational_velocity_scale (double, default: 2.2352)

• translational veolicty scale

rotational_velocity_scale (double, default: 3.0)

• rotational velocity scale

translational_velocity_boost_scale (double, default: 8.0)

• translational veolicty boost scale

rotational_velocity_boost_scale (double, default: 4.4)

• rotational velocity boost scale

Controller Usage

https://github.com/sri-robotics/segwayrmp/blob/master/rmp_teleop/xbox_controller_usage.pdf