Teleop config

configを書く

1つ前ではClientのConfigについて取り上げました。このページはTeleop用の追加Configについて載せてあります。

requiredと書いてあるものは必須事項です。

Default config

デフォルトは以下のようになっています。読み込んだconfigに応じて設定が追加または上書きされます。HashMapで実装されているため、既に設定されたものは上書きされ、新規の設定の場合は追加されます。

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

Gilrsとの比較表はこのようになります。使用するJoystickにより異なりますので参考までに。特別にこのボタンやスティックを割り当てたいという場合はteleop_configのファイルに例に習って対応付けることでキーを変更できます。

ボタンやスティックのレイアウトはgilrs layoutに従っています。

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

initial_mode では初期のモードを指定できます。

Example

initial_mode = "base"

plugins

Teleop Plugin Config

robot_config_path

robot_config_path では、configファイルへの相対パスを指定します。

Example

robot_config_path = "sample_robot_client_config_for_urdf_viz.toml"