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Hardware Requirements

This package uses a joystick or keyboard for teleoperation of Care-O-bot. To use this package you need either a real Care-O-bot or a simulated one (see cob_gazebo).

ROS API

The cob_teleop package provides both, a configurable node for teleoperation by joystick or by keyboard.

cob_teleop

The cob_teleop node takes in sensor_msgs/Joy messages and send direct commands to the hardware.

Subscribed Topics

joy (sensor_msgs/Joy)

• Receives joystick commands.

/joint_states (sensor_msgs/JointState)

• Receives the joint states of all joints for initialization.

Published Topics

arm_controller/command (trajectory_msgs/JointTrajectory)

• Publishes commands to the arm.

torso_controller/command (trajectory_msgs/JointTrajectory)

• Publishes commands to the torso.

tray_controller/command (trajectory_msgs/JointTrajectory)

• Publishes commands to the tray.

base_controller/command (geometry_msgs/Twist)

• Publishes commands to the base.

Parameters

~run_factor (float, default: 1.5)

• Defines the factor to multiply velocities when run button is pressed.

~lower_neck_button (int, default: 6)

• Joystick button for lower neck.

~upper_neck_button (int, default: 4)

• Joystick button for upper neck.

~tray_button (int, default: 3)

• Joystick button for tray.

~arm_joint12_button (int, default: 0)

• Joystick button for joint 1 and 2 of arm.

~arm_joint34_button (int, default: 1)

• Joystick button for joint 3 and 4 of arm.

~arm_joint56_button (int, default: 2)

• Joystick button for joint 5 and 6 of arm.

~arm_joint7_button (int, default: 3)

• Joystick button for joint 7 of arm.

~deadman_button (int, default: 5)

• Joystick button for deadman functionality.

~run_button (int, default: 7)

• Joystick button run functionality.

~axis_vx (int, default: 1)

• Joystick axis for base movements along x-axis.

~axis_vy (int, default: 0)

• Joystick axis for base movements along y-axis.

~axis_vth (int, default: 2)

• Joystick axis for base movements around tetha-axis.

~lower_tilt_step (float, default: 0.05)

• Step for lower tilt movements in rad/sec.

~lower_pan_step (float, default: 0.05)

• Step for lower pan movements in rad/sec.

~upper_tilt_step (float, default: 0.075)

• Step for upper tilt movements in rad/sec.

~upper_pan_step (float, default: 0.075)

• Step for upper pan movements in rad/sec.

~tray_step (float, default: 0.1)

• Step for tray movements in rad/sec.

~arm_left_right_step (float, default: 0.1)

• Step for left and right arm movements in rad/sec.

~arm_up_down_step (float, default: 0.1)

• Step for up and down arm movements in rad/sec.

~max_vx (float, default: 0.3)

• Maximum velocity for base movements along x-axis in m/sec.

~max_vy (float, default: 0.2)

• Maximum velocity for base movements along y-axis in m/sec.

~max_vth (float, default: 0.3)

• Maximum velocity for base movements around tetha-axis in rad/sec.

~max_ax (float, default: 0.5)

• Maximum acceleration for base movements along x-axis in m/sec^2.

~max_ay (float, default: 0.5)

• Maximum acceleration for base movements along y-axis in m/sec^2.

~max_ath (float, default: 0.5)

• Maximum acceleration for base movements around tetha-axis in rad/sec^2.

Usage/Examples

Starting teleoperation node

For starting the teleoperation with joystick

roslaunch cob_bringup teleop.launch

For including the teleoperation in your overall launch file use

<include file="$(find cob_bringup)/tools/teleop.launch" />

If you haven't got joystick you can move the base of the robot using the keyboard:

roslaunch cob_teleop teleop_keyboard.launch

Move components

To be able to use the joystick the deadman_button has to be pressed all the time, as soon as the button is released a stop will be send to all hardware components. Have a look at the following image to see which buttons command which components.

For moving the base: Hold the deadman button and use the base rotation and translation axis to move the base.

For moving the torso: Hold the deadman button and the upper or lower neck button, then use the up_down or left_right axis to move the torso.

For moving the tray: Hold the deadman button and the tray button, then use the up_down axis to move the tray.

For moving the arm: Hold the deadman button and one of the arm buttons, then use the up_down or left_right axis to move the selected arm joints.

Parameter file

A sample parameter file could look like this

# common params
run_factor: 2.0

# buttons
lower_neck_button: 6
upper_neck_button: 4
tray_button: 3
arm_joint12_button: 0
arm_joint34_button: 1
arm_joint56_button: 2
arm_joint7_button: 3
deadman_button: 5
run_button: 7

# axes
axis_vx: 1
axis_vy: 0
axis_vth: 2
up_down: 5 #tray--up/down; tilt--front/back, here we just name up_down
left_right: 4 #pan--left/right

# velocities in rad/sec, m/sec
lower_tilt_step: 0.05
lower_pan_step: 0.05
upper_tilt_step: 0.075
upper_pan_step: 0.075
tray_step: 0.15
arm_left_right_step: 0.1
arm_up_down_step: 0.1
max_vx: 0.3
max_ax: 0.5
max_vy: 0.2
max_ay: 0.5
max_vth: 0.3
max_ath: 0.7