Armer (Manipulation Package) Teleoperation

This is a teleoperation driver based on joy for the Armer driver. For the installation and usage of this package, please see the subsequent sections below:

Supported Controllers

Logitech Wireless Gamepad F710
PS4 Wireless Controller

Installation

Ubuntu (via apt)

Before running the below command, ensure you have the QCR Repositories setup correctly:

sudo apt update && sudo apt install ros-noetic-armer-teleop

Ubuntu (via dpkg)

You can also download the latest debian packages by running the following command (in a suitable directory). Note that you must specify the ARCH you wish to download (i.e., amd64 or arm64). Alternatively, you can manually download from the latest release in this repository.

curl -s https://api.github.com/repos/qcr/armer_teleop/releases/latest \
| grep "browser_download_url.*<ARCH>.deb" \
| cut -d : -f 2,3 \
| tr -d \" \
| wget -qi -

To install, run the following command. Note, please replace Downloaded Deb with your downloaded version:

sudo dpkg -i <Downloaded Deb>.deb

Please note the currently supported (built) ROS distros and architectures:

ubuntu 20.04 (noetic) amd64
ubuntu 20.04 (noetic) arm64
ubuntu 18.04 (melodic) amd64
ubuntu 18.04 (melodic) arm64

From Source

Copy and paste the following code snippet into a terminal to create a new catkin workspace and install the armer_teleop to it. Note that, the armer package is not required as a dependency, as the package can be run from an external camera. If directly used with Armer, it is recommended to be placed in the same catkin_ws for ease of use.

mkdir -p ~/armer_ws/src && cd ~/armer_ws/src
git clone https://github.com/qcr/armer_teleop.git
cd .. && rosdep update && rosdep install --from-paths src --ignore-src -r -y
catkin_make
echo "source ~/armer_ws/devel/setup.bash" >> ~/.bashrc
source ~/armer_ws/devel/setup.bash
echo "Installation Complete!"

Usage

WARNING: Please Ensure A Safe and Clear Workspace If Using This Package With A Real Robot

The package can be run independently via its launch file:

Note: that the arguments specified below are the defaults, so this launch file can be run without those arguments. If they are required to be changed, then each argument should be passed in as shown below.

roslaunch armer_teleop teleop.launch frame_id_EE:=tool0 frame_id_base:=base_link trig_val:=true controller_config:=logitech

Note that the trig_val argument should be kept true (default): if this parameter is not set (i.e., false), the triggers on the controller report a value of 0.0 until they are touched.

Furthermore, note that the controller_config argument is defaulted to logitech, and can be changed to ps4, as an example, to run the ps4 configured version. Please see above sections for supported controller types