mofidied_teleop_twist_keyboard

Added song function to telepo_twist_keyboard

This package depends on create_robot kinetic ver.

Launch

ROS launch.

roslaunch ca_driver create_2.launch

Run.

rosrun modified_teleop_twist_keyboard teleop_twist_keyboard.py _repeat_rate:=10.0 _key_timeout:=0.5

With custom values.

rosrun modified_teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.9 _turn:=0.8

Publishing to a different topic (in this case my_cmd_vel).

rosrun modified_teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=my_cmd_vel

Usage

Reading from the keyboard  and Publishing to Twist!
---------------------------
Moving around:
   u    i    o
   j         l
   m    k    . 

anything else : stop

q/z : high speed mode/ low speed mode
c: circle move mode

Playing song(select roomba talking word)
---------------------------
   1,2,3,4

talking word meanings
1 : "OK"
2 : "!!"
3 : "??"
4 : "yeah!"

CTRL-C to quit

Change song set

If you want to change song set, see the lines 108-116. Please see "Song Chapter" of this specification for more details about song definitions.

Repeat Rate

If your mobile base requires constant updates on the cmd_vel topic, teleop_twist_keyboard can be configured to repeat the last command at a fixed interval, using the repeat_rate private parameter.

For example, to repeat the last command at 10Hz:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _repeat_rate:=10.0

It is highly recommened that the repeat rate be used in conjunction with the key timeout, to prevent runaway robots.

Key Timeout

Teleop_twist_keyboard can be configured to stop your robot if it does not receive any key presses in a configured time period, using the key_timeout private parameter.

For example, to stop your robot if a keypress has not been received in 0.6 seconds:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _key_timeout:=0.6

It is recommended that you set key_timeout higher than the initial key repeat delay on your system (This delay is 0.5 seconds by default on Ubuntu, but can be adjusted).

Twist with header

Publishing a TwistStamped message instead of Twist can be enabled with the stamped private parameter. Additionally the frame_id of the TwistStamped message can be set with the frame_id private parameter.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _stamped:=True _frame_id:=base_link