openrr_apps_robot_teleop
With openrr_apps_robot_teleop, what used to be controlled on a GUI application can now be controlled remotely with a joystick or similar.
openrr_apps_robot_teleop
Usage
openrr_apps_robot_teleop [OPTIONS]
| Options | Description |
|---|---|
| -c, --config-path <CONFIG_PATH> | Path to the setting file |
| -h, --help | Print help information |
| --log-directory <LOG_DIRECTORY> | Path to log directory for tracing FileAppender |
| --robot-config <ROBOT_CONFIG> | Set options from command line. These settings take priority over the setting file specified by --config-path |
| --show-default-config | Prints the default setting as TOML |
| --teleop-config <TELEOP_CONFIG> | Set options from command line. These settings take priority over the setting file specified by --config-path |
Example
Button names follow gilrs layout.
Run urdf-viz. Then connect the gamepad to your PC, load and run the configuration file for Teleop.
urdf-viz ./openrr-planner/sample.urdf &
openrr_apps_robot_teleop \
--config-path ./openrr-apps/config/sample_teleop_config_urdf_viz.toml
Pressing the assigned mode selection button (North by default) toggles the mode, and the sub-mode selection button (East by default) toggles the sub-mode.
PrintSpeaker: l_arm0
PrintSpeaker: r_arm0
PrintSpeaker: base
PrintSpeaker: left i k
PrintSpeaker: right i k
PrintSpeaker: pose l_arm_collision_checked zero
PrintSpeaker: l_arm0
PrintSpeaker: r_arm0
PrintSpeaker: r_arm1
PrintSpeaker: r_arm2
Example (--teleop-config)
openrr_apps_robot_teleop \
--config-path ./openrr-apps/config/sample_teleop_config_urdf_viz.toml \
--teleop-config gamepad=\"keyboard\"
This is done in the same way as example (--config) in openrr_apps_robot_command Example (--config), which is to overwrite existing settings.
In this example, the default operation with the gamepad is switched to operation from the keyboard.