ROS Package to Teleoperate a P3-AT

This package comprises one way of implementing the exercise presented in the ROS tutorial for the Human-Centred Robotics course taught at Imperial College London.

Setup Instructions

Before launching this package, don't forget to run the following command to install the necessary dependencies:

rosdep install p3at_teleop

You will also need sudo permissions for read and write access to use the RS-232-USB adapter:

sudo chmod a+rw /dev/ttyUSB*

You may also need to change the joystick axes parameters ("axis_linear" and "axis_angular") depending on your controller. This can be done from the .launch file or directly from the command line. Ignore the feedback error message in red.

General Use

The directory layout for this package is as follows:

• config contains the RViz configuration file
• launch contains a basic launch file for this package
• src contains the P3-AT teleoperation node

You can launch this package with RViz:

roslaunch p3at_teleop p3at_teleop.launch rviz:=true

Note: This visualisation setup is very basic at the moment as all the code makes use of the p2os stack. However, for more extensive projects (e.g. making use of sonar) with the P3-AT or PeopleBot, then please migrate over to ROSARIA for a more complete ROS interface.