Teleop config

Write config

The previous page covered Client configurations. This page contains additional configurations for Teleop.

Items marked "required" are mandatory.

Default config

The default is as follows. Settings are added or overwritten depending on the loaded config. Since it is implemented in a HashMap, it will overwrite any already set and append for new settings.

initial_mode = ""
gamepad = "gilrs"

[control_nodes_config]

[gil_gamepad_config]
device_id = 0

[gil_gamepad_config.map]
button_map = [
    ["DPadLeft",      "DPadLeft"     ],
    ["Select",        "Select"       ],
    ["East",          "East"         ],
    ["DPadUp",        "DPadUp"       ],
    ["LeftTrigger",   "LeftTrigger"  ],
    ["DPadDown",      "DPadDown"     ],
    ["RightTrigger",  "RightTrigger" ],
    ["RightTrigger2", "RightTrigger2"],
    ["Start",         "Start"        ],
    ["LeftTrigger2",  "LeftTrigger2" ],
    ["Mode",          "Mode"         ],
    ["DPadRight",     "DPadRight"    ],
    ["South",         "South"        ],
    ["North",         "North"        ],
    ["RightThumb",    "RightThumb"   ],
    ["LeftThumb",     "LeftThumb"    ],
    ["West",          "West"         ]
]
axis_map = [
    ["LeftStickY",  "LeftStickY" ],
    ["LeftStickX",  "LeftStickX" ],
    ["RightStickX", "RightStickX"],
    ["DPadY",       "DPadY"      ],
    ["DPadX",       "DPadX"      ],
    ["RightStickY", "RightStickY"]
]
axis_value_map = [["LeftStickX", -1.0], ["RightStickX", -1.0]]

[plugins]

robot_teleop_config

control_nodes_config

Control Nodes Config

IK Node Teleop Config

Joint Pose Sender Config

Joy Joint Teleop Config

IK Node Config

Joy Joint Teleop Node Config

Robot Command Config

Example

[[control_nodes_config.command_configs]]
name = "audio bar"
file_path = "sample_audio_command.txt"

[[control_nodes_config.command_configs]]
name = "ros speak"
file_path = "sample_speak_command.txt"

openrr_apps_robot_command speak foo bar

openrr_apps_robot_command speak espeak "This is topic message"

PrintSpeaker: command audio sine
PrintSpeaker: command ros speak

gamepad

string or BuiltinGamepad ("gilrs" or "keyboard"). Default is "gilrs".

gil_gamepad_config

Gil Gamepad Config

Map

A comparison table with Gilrs looks like this. For reference only, as it depends on the Joystick used. If you want to assign this particular button or stick, you can change the key by following the example and mapping it to the teleop_config file.

Button and stick names follow gilrs layout.

Comparison table between GilrsAxis and Axis

Comparison table between GilrsButton and Button

Example

[gil_gamepad_config.map]
axis_map = [
    # GilrsAxis      Axis (user axis)
    ['LeftStickX',  'LeftStickX'   ],
    ['LeftStickY',  'LeftStickY'   ],
    ['LeftZ',       'LeftTrigger'  ],
    ['RightStickX', 'RightStickX'  ],
    ['RightStickY', 'RightStickY'  ],
    ['RightZ',      'RightTrigger' ],
    ['DPadX',       'DPadX'        ],
    ['DPadY',       'DPadY'        ],
]
axis_value_map = [
    # Axis (user axis)  value
    ['LeftStickX',      -1.0 ],
    ['RightStickX',     -1.0 ],
    ['LeftStickY',      -1.0 ],
    ['RightStickY',     -1.0 ],
]
button_map = [
    # GilrsButton     Button(user button)
    ['East',          'South'         ],
    ['C',             'East'          ],
    ['North',         'North'         ],
    ['South',         'West'          ],
    ['West',          'LeftTrigger'   ],
    ['LeftTrigger',   'LeftTrigger2'  ],
    ['Z',             'RightTrigger'  ],
    ['RightTrigger',  'RightTrigger2' ],
    ['LeftTrigger2',  'Select'        ],
    ['RightTrigger2', 'Start'         ],
    ['Mode',          'Mode'          ],
    ['Select',        'LeftThumb'     ],
    ['Start',         'RightThumb'    ],
    ['DPadUp',        'DPadUp'        ],
    ['DPadDown',      'DPadDown'      ],
    ['DPadLeft',      'DPadLeft'      ],
    ['DPadRight',     'DPadRight'     ],
]

initial_mode

The initial_mode allows you to specify the initial mode.

Example

initial_mode = "base"

plugins

Teleop Plugin Config

robot_config_path

The robot_config_path specifies the relative path to the config file.

Example

robot_config_path = "sample_robot_client_config_for_urdf_viz.toml"