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