tele-operation for manipulating movable robots under ROS 1. It publishes geometry_msgs/Twist Message with user-defined topic(default: cmd_vel)
git clone https://github.com/xinjuezou-whi/whi_interfaces.git
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 |
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