This sample shows a crawler robot model with a joystick teleoperation software.
The robot and the teleope software can talk in ROS topic.
In this sample, you can find a crawler robot model having 4 flipper arms and a plugin "libcrawler_flipper_ros.so" and a source file as "src/crawler_flipper_ros.cc".
There is a world file as "worlds/crawler_robot.world" to show a crawler_robot robot model.
How to use the robot.
You need two terminals.
At Terminal 1 :
You can run this sample by using a following command.
$ roslaunch crawler_robot_ros spawn_crawler_robot_ros.launch use_joystick:=false
If use_joystick is true, the kind of the default game controller is iBUFFALO-bsgp1601.
You can find a description of other kinds of game controllers in the following.
At Terminal 2 :
You can move the robot with an ordinary teleop software by following command:
$ roslaunch crawler_robot_ros joy_and_teleop_crawler.launch robot_name:=robot dev:=/dev/input/js0 gc_bsgp1601:=true
You can use gc_ds4 or gc_dux60 instead of gc_bsgp1601.
gc_ds4 means a game controller as the Dual Shock 4 of SONY.
gc_dux60 means a game controller as the JC-DUX60 of ELECOM.
gc_bsgp1601 means a game controller as the BSGP1601 of iBUFFALO.
Model and plugin.
This package uses following model.
|Model Name||Plugin(Program) Filename(s)|
|crawler_flipper_ros.cc||The plugin program.
This program can hear ROS topic.
|teleop_crawler.cc||An executable tele-operation program for crawler_robot_ros in ROS.
It can control robot moving and flipper moving with a joy stick.
This program can tell only ROS topic.
Date : 16 Mar. 2018