https://github.com/gkouros/ackermann-drive-teleop

ROS keyboard and joystick teleoperation scripts for robots with ackermann steering
https://github.com/gkouros/ackermann-drive-teleop

ackermann-drive-teleop car-like-robots joystick keyboard ros teleoperation

Last synced: about 2 months ago
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ROS keyboard and joystick teleoperation scripts for robots with ackermann steering

• Host: GitHub
• URL: https://github.com/gkouros/ackermann-drive-teleop
• Owner: gkouros
• License: lgpl-3.0
• Created: 2015-12-20T11:17:58.000Z (about 9 years ago)
• Default Branch: master
• Last Pushed: 2020-11-11T08:53:15.000Z (about 4 years ago)
• Last Synced: 2023-03-03T05:23:52.680Z (almost 2 years ago)
• Topics: ackermann-drive-teleop, car-like-robots, joystick, keyboard, ros, teleoperation
• Language: Python
• Homepage:
• Size: 15.6 KB
• Stars: 35
• Watchers: 2
• Forks: 30
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# ackermann_drive_teleop

ROS teleoperation scripts for robots with ackermann steering

##### ackermann_drive_keyop

+ Run the teleoperation script, with  

`rosrun ackermann_drive_teleop keyop.py`  

+ You can set max speed, steering angle and command topic by giving them as arguments, when running the script.  

eg.1 `rosrun ackermann_drive_teleop keyop.py 0.5`  

       -> max_speed=max_steering_angle=0.5, command_topic=/ackermann_cmd  

eg.2 `rosrun ackermann_drive_teleop keyop.py 0.5 0.8`  

       ->  max_speed=0.5, max_steering_angle=0.8, command_topic=/ackermann_cmd  

eg.3 `rosrun ackermann_drive_teleop keyop.py 0.5 0.8 ack_cmd`  

       ->  max=speed=0.5, max_steering_angle=0.8, command_topic=/ack_cmd  

+ Use the "up", "down" arrow keys to control speed, "left" and "right" arrow keys to control the steering angle,  

  space to brake and tab to reset the steering angle.  

##### ackermann_drive_joyop

+ Run the teleoperation script, as well as the joy node using the following command:  

`roslaunch ackermann_drive_teleop ackermann_drive_joyop.launch`  

+ You can set max speed and steering angle, by giving them as arguments to the launcher.  

eg. `roslaunch ackermann_drive_teleop ackermann_drive_joyop.launch max_speed:=0.5 max_angle:=0.8`  

+ **In order to use a joystick, it must have read and write permissions.**  

You can grant such permissions by executing the following command: `sudo chmod a+rw /dev/input/js0`