Only released in EOL distros:
biped_robin_apps: biped_robin_footstep_planner | biped_robin_local_planner | biped_robin_navigation | biped_robin_teleop
Package Summary
Documented
This package includes the launch files to drive the bipedRobin by hand with the keyboard or a joystick.
- Author: Johannes Mayr, Johannes Mayr
- License: BSD
- Source: svn http://robin-jku-linz-ros-pkg.googlecode.com/svn/trunk/biped_robin_apps/
Contents
Documentation
This package provides various nodes to teleoperate the BipedRobin robot by joystick. The use of a PS3 joystick is recommended but also other joysticks can be used after some minor adoptions.
Nodes
joystick_teleop
Generates desired velocities for given joystick inputs. If one wants to use different dead man keys or other axis to control the robot this node needs to be adoptedSubscribed Topics
joy (sensor_msgs/Joy)- Data from the joystick
Published Topics
cmd_vel (geometry_msgs/Twist)- Desired velocity for BipedRobin (x,y, theta)
biped_teleop
Generates desired steps for given desired velocity. The area of allowed steps is hard coded in this node.Subscribed Topics
cmd_vel (geometry_msgs/Twist)- Desired velocity for BipedRobin (x,y, theta)
- Number of steps left in the step buffer of BipedRobin. A new step will only be sent if the buffer is empty.
Published Topics
desiredCenterPoint (geometry_msgs/PoseStamped)- Visualization of the desired center point of BipedRobin (point between the two feet).
Services Called
footstep3DInc_srv (biped_robin_msgs/StepTarget3DService)- Service is called to pass an incremental step to the step buffer of BipedRobin.
carrot_teleop
Generates desired velocities so that the robot follows a carrot (actually a frame in the tf tree).Published Topics
cmd_vel (geometry_msgs/Twist)- Desired velocity for BipedRobin (x,y, theta)
Parameters
~carrot_frame_id (string, default: /carrot)- Frame attached to the carrot (z-direction pointing up)
- Base frame of the robot (x-axes pointing forward, z-axes pointing upwards)
- Distance the robot keeps to the carrot.
Required tf Transforms
carrot → base_footprint- carrot frame is set with '~carrot_frame_id' parameter, base_footprint frame is set with '~base_frame_id'.
Launch Files
There are several launch files to start up the teleoperation:
joystick.launch - starts the joystick_teleop and biped_teleop nodes.
joystick_real.launch - like joystick.launch but also starts the drivers for BipedRobin
joystick_simulated.launch - like joystick.launch but also starts a simulation of BipedRobin.
