RobotOne Teleop Twist Package

TODO: Edit to fit teleop package

• RobotOne Teleop Twist Package
  • Overview
  • Prerequisites
  • Installation
  • Configuration
  • Usage
  • Directory Structure
  • Contributing
  • License
  • Contact

Overview

The robotone_teleop_twist is a ROS2 package that provides Joystick state. It enables users to interact with the robot using an Xbox controller for operation and testing. This package runs only on Linux system.

Key features include:

• Create Teleop Node
• Subscribes to a Joystick message (sensor_msgs/msg/joy)
• Publishes a twist message ()
• Configurable joystick interface
• Topic Monitoring

Prerequisites

Ensure the following dependencies are installed:

• ROS2 (Humble or above)
• Python 3
• TODO: How can we run the node with generic ros2 node?

Installation

1. Clone the repository into your ROS2 workspace:

   cd ~/ros2_ws/src
   git clone https://github.com/fra1alv/robotone_teleop.git

2. Build the workspace:

   cd ~/ros2_ws
   colcon build
   source install/setup.bash

3. Verify the installation by listing available ROS2 packages:

   ros2 pkg list | grep robotone_teleop_twist

Configuration

FIXME Fix the questions marks The robotone_teleop_twist package uses a configuration file to setup ????? then publishes it twist meassage. The default configuration file is located at config/teleop_config.yaml.

You can customize the parameters by editing this file:

robotone_teleop_node:
  ros__parameters:
    topic_name: /robotone_cmd_vel
    subscription_name: /robotone_joystick
    debug: false
    has_enable_button: True
    enable_button: 2
    enable_high_speed_button: 0
    publish_stamped_twist: True
    frame_name: "robotone_teleop_node"
    linear_axis: # Left thumb stick vertical
      x: 1
    linear_scale:
      x: 0.7
    linear_high_speed_scale:
      x: 1.5
    angular_axis: # Left thumb stick horizontal
      yaw: 0
    angular_scale:
      yaw: 0.4
    angular_high_speed_scale:
      yaw: 0.8

Usage

1. Launch the Teleop node:

   ros2 launch robotone_teleop joystick_teleop_launch.py

2. Verify the node list

   ros2 node list

   Note: you must to find the node robotone_teleop_node
3. List topics published by a node:

   ros2 node info /robotone_teleop_node

4. Listen to the topic

   ros2 topic echo /robotone_teleop

   Note: Topic name can be set on the config file

Directory Structure

robotone_teleop/
├── config/                             # Configuration files
│   └── teleop_config.yaml
├── include/                            # header files
│   └── robotone_teleop/
│       └── robotone_teleop_twist.hpp/
├── launch/                             # Launch files
│   └── robotone_teleop_launch.py
├── src/                                #Source code
│   └── robotone_teleop_node.hpp
│   └── robotone_teleop,cpp           
├── CMakeLists.txt
├── LICENSE
├── package.xml                         # ROS2 package manifest
└── README.md                           

Contributing

Contributions are welcome! Please follow these steps:

1. Fork the repository.
2. Create a new branch for your feature or bug fix.
3. Submit a pull request with a detailed description of your changes.

License

This project is licensed under the GPLv3 License.

Contact

For support or questions, feel free to reach out:

• Email: alonsofra1alv@gmail.com
• GitHub: Fra1alv