xinjuezou-whi/whi_motion_teleop

teleoperation to motion control under ROS 1

whi_motion_teleop

tele-operation for manipulating movable robots under ROS 1. It publishes geometry_msgs/Twist Message with user-defined topic(default: cmd_vel)

Dependencies

git clone https://github.com/xinjuezou-whi/whi_interfaces.git

Manipulating keys definition

Engineering maintenance keys definition

Key	Function
0	neutralize all engineering operations
3	print the yaw value of IMU
4	reset the IMU
5	print the value of the encoder
6	reset the value of the encoder
7	calibrate the map between reference and PWM duty
8	clear calibration results

Params

whi_motion_teleop:
  command_frequency: 20 # Hz
  motion_state_topic: motion_state
  linear: # m/s
    min: 0.08
    max: 0.3
    step: 0.01 
  angular: # rad/s
    min: 0.1
    max: 1.0
    step: 0.1