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Overview

The purpose of this package is to provide a generic facility for tele-operating Twist-based ROS robots with a standard joystick. Examples of such platforms include TurtleBot, Husky, and Kingfisher.

This node provides no rate limiting or autorepeat functionality. It is expected that you take advantage of the features built into joy for this.

ROS API

The package comes with a node which may be used out of the box.

teleop_node

Republish Joy messages as scaled geometry_msgs/Twist messages.

Subscribed Topics

joy (sensor_msgs/Joy)

• Joystick messages to be translated to velocity commands.

Published Topics

cmd_vel (geometry_msgs/Twist)

• Command velocity messages arising from Joystick commands.

Parameters

~enable_button (int, default: 0)

• Joystick button to enable regular-speed movement.

~enable_turbo_button (int, default: -1)

• Joystick button to enable high-speed movement (disabled when -1).

~axis_linear (int, default: 1)

• Joystick axis to use for linear movement control.

~scale_linear (double, default: 0.5)

• Scale to apply to joystick linear axis for regular-speed movement, in m/s.

~scale_linear_turbo (double, default: 1.0)

• Scale to apply to joystick linear axis for high-speed movement, in m/s.

~axis_angular (int, default: 0)

• Joystick axis to use for angular movement control.

~scale_angular (double, default: 1.0)

• Scale to apply to joystick angular axis for regular-speed movement, in rad/s.

~scale_angular_turbo (double, default: ~scale_angular)

• Scale to apply to joystick angular axis for high-speed movement, in rad/s.

C++ API

The teleop translation functionality is embeddable, if you'd like to compile it into a larger "base" node for your robot. See the TeleopTwistJoy class for details or teleop_node.cpp for an example.