💾 l3xz_teleop

Teleoperation for L3X-Z via PS3 joystick and ROS topics.

How-to-build

Note: Don't forget to install the dependencies.

cd $COLCON_WS/src
git clone https://github.com/107-systems/l3xz_teleop
cd $COLCON_WS
source /opt/ros/humble/setup.bash
colcon build --packages-select l3xz_teleop

How-to-run

cd $COLCON_WS
. install/setup.bash
ros2 launch l3xz_teleop teleop.py

Check the content of the published message via:

ros2 topic list
/* ... */
ros2 topic echo /l3xz/cmd_vel_robot

Interface Documentation

Subscribed Topics

Default name	Type
/l3xz/joy	sensor_msgs/Joy

Published Topics

Default name	Type
/l3xz/cmd_vel_robot	geometry_msgs/Twist
/l3xz/cmd_vel_head	geometry_msgs/Twist
/l3xz/cmd_robot/req_up	std_msgs/Bool
/l3xz/cmd_robot/req_down	std_msgs/Bool

Parameters

Name	Default	Description
joy_topic	joy	Name of topic from where we are subscribing joystick messages.
joy_topic_deadline_ms	100	Deadline in milliseconds within which a new joystick message is expected.
joy_topic_liveliness_lease_duration	1000	The time within which the RMW node or publisher must show that it is alive.
robot_topic	cmd_vel_robot	Name of topic for controlling L3X-Z forward/angular speed (linear.x/, angular.z).
robot_topic_publish_period_ms	100	Publishing period for robot messages in milliseconds (ms).
head_topic	cmd_vel_head	Name of topic for controlling L3X-Z sensor head (angular.y/, angular.z) in degree per second (dps).
head_topic_publish_period_ms	50	Publishing period for head messages in milliseconds (ms).
head_topic_deadline_ms	100	Deadline in milliseconds within which a new head message should be published.
head_topic_liveliness_lease_duration	1000	The time within which the RMW node or publisher must show that it is alive.
robot_req_up_topic	cmd_robot/req_up	Name of topic for requesting L3X-Z to stand up.
robot_req_up_topic_publish_period_ms	250	Publishing period for stand up request messages in milliseconds (ms).
robot_req_down_topic	cmd_robot/req_down	Name of topic for requesting L3X-Z to sit down.
robot_req_down_topic_publish_period_ms	250	Publishing period for sit down request messages in milliseconds (ms).
pan_max_dps	10.0°	Maximum target angular velocity for pan servo of the L3X-Z sensor head.
tilt_max_dps	10.0°	Maximum target angular velocity for tilt servo of the L3X-Z sensor head.

Install dependencies

• Install gsl-lite

git clone https://github.com/gsl-lite/gsl-lite && cd gsl-lite
mkdir build && cd build
cmake .. && make -j8
sudo make install

• Install Catch2

git clone https://github.com/catchorg/Catch2 && cd Catch2
mkdir build && cd build
cmake .. && make -j8
sudo make install

• Install fmt

git clone https://github.com/fmtlib/fmt && cd fmt
mkdir build && cd build
cmake -DFMT_TEST=OFF ..
make -j8
sudo make install