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tms_rc_mimamorukun_control package from mobile-manipulator-planning repo

ktmpb hpp-doc path_modification ramp ramp_control ramp_debug ramp_launch ramp_msgs ramp_planner ramp_sensing trajectory_evaluation trajectory_generator trajectory_visualisation moveit_tmp_capabilities moveit_tmp moveit_tmp_msgs base_placement_plugin map_creator reuleaux workspace_visualization bt_kuka erl_rnt kuka_kmr_description kuka_kmr_iiwa_config kuka_kmr_iiwa_description kuka_kmr_iiwa_lbr_arm_ikfast_plugin kuka_kmr_iiwa_tasks kuka_kmr_nav kuka_lbr_arm_config kuka_lbr_arm_description kuka_msgs amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid object_tracking realsense2_description robots_models rsd simulation environmental_model ros_tms tms_db_manager tms_db_state_publisher corridor_viewer tms_msg_db tms_msg_rc tms_msg_rp tms_msg_rs tms_msg_sa tms_msg_sd tms_msg_ss tms_msg_ts tms_msg_ur tms_nw_api tms_nw_rp tms_nw_svr tms_rc_bed tms_rc_bot tms_rc_double tms_rc_katana tms_rc_kobuki_control kobuki_navigation kobuki_slam kobuki_tf tms_rc_kobuki_virtual_control tms_rc_kxp_virtual_control tms_rc_mimamorukun_control tms_rc_ninebot tms_rc_pot tms_rc_rtkbot tms_rc_smartpal_action tms_rc_smartpal_control tms_rc_smartpal_control_test tms_rc_smartpal_tagreader tms_rc_smartpal_tts tms_rc_smartpal_virtual_control tms_rc_turtlebot_control tms_rc_turtlebot3 rostms_bringup rostms_description rostms_gazebo rostms_moveit_config skeleton_description smartpal5_arm_navigation smartpal5_description smartpal5_gazebo smartpal5_moveit_config tms_rp_path_planning tms_rp_voronoi_map tms_rs_action tms_rs_greeting_demo tms_rs_refrigerator tms_ss_ibs tms_ss_kinect_v2 tms_ss_nfbed tms_ss_ninebot_pozyx tms_ss_pot tms_ss_pozyx tms_ss_ps_manager tms_ss_tracker tms_ss_vicon tms_ss_vs tms_ss_watch tms_ss_whs1 tms_ss_xtion tms_ts_smach tms_ts_subtask tms_ts_ts tms_ur_gaze_server tms_ur_listener tms_ur_slack tms_ur_speaker

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Package Summary

Tags	No category tags.
Version	0.0.1
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description	Collection of resorces avaiable for mobile manipulator planning
Checkout URI	https://github.com/sandakalum/mobile-manipulator-planning.git
VCS Type	git
VCS Version	main
Last Updated	2023-01-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The tms_rc_mimamorukun_control package

Additional Links

Website
Git

Maintainers

shigekane

Authors

shigekane

Service_robot_system_with_an_informationally_structured_environment_Robotics_and_Autonomous_Systems/ros_tms-develop/tms_rc/tms_rc_mimamorukun/mimamorukun_control/README.md

tms_rc_mimamorukun_control

Network setup

Setup ethernet port of PC as below.

IP Address: 192.168.11.10
Subnet Mask: 255.255.255.0
Default Gateway: 192.168.11.96
DNS: 192.168.11.1

You can check IP address and port setting of chairbot by connecting usb to Mbed(micro controller) in robot.

Minimal control node.

Launch below

roslaunch tms_rc_mimamorukun_control minimal.launch

This node serve

Subcrive topic for control velocity
Publish topics for odometry and tf information

You must launch this file first at all.
If you want to change IP address and port setting, you must modify minimal.launch.

Joystick control

Launch below.

sudo chmod a+rw /dev/input/js0
roslaunch tms_rc_mimamorukun_control joyop.launch

'0' button: unlock control
'1' button: lock control
'4' button: enable Analog Stick during pushing down
'1' analog stick: control velocity
'0' analog stick: control angular

Use below command to install depending packages

sudo apt-get install ros-indigo-yocs-joyop ros-indigo-joy

Keyboard control

Launch below.

roslaunch tms_rc_mimamorukun_control keyop.launch

'e' key: enable sending velocity command
arrow keys : control velocity

Use below command to install depending packages

sudo apt-get install ros-indigo-kobuki_keyop

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	geometry_msgs
	roscpp
	tms_msg_db
	tms_msg_rc
	tf
	yocs-joyop
	nav_msgs
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/deprecated/adaptive_human_tracker.launch
- - child1 [default: /lrf1]
launch/deprecated/automatic_control.launch
launch/deprecated/gmapping_costmap.launch
- - child1 [default: /lrf1]
launch/deprecated/hybrid_control.launch
launch/deprecated/manual_control.launch
launch/deprecated/safe_control.launch
launch/gmapping.launch
- - scan_topic [default: scan]
  - map_topic [default: map_test]
  - base_frame [default: base_footprint]
  - odom_frame [default: odom]
launch/joyop_gamepad.launch
- - linear_axis [default: 1]
  - angular_axis [default: 0]
  - linear_scale [default: 0.2]
  - angular_scale [default: 0.5]
  - deadman_button [default: 5]
  - enable_button [default: 0]
  - disable_button [default: 1]
  - spin_frequency [default: 10]
  - joy_topic_name [default: joy]
  - cmd_vel_topic_name [default: cmd_vel_mux/input/joystick]
  - enable_topic_name [default: enable]
  - disable_topic_name [default: disable]
launch/joyop_joystick.launch
- - linear_axis [default: 1]
  - angular_axis [default: 0]
  - linear_scale [default: 0.3]
  - angular_scale [default: 0.8]
  - deadman_button [default: 0]
  - enable_button [default: 1]
  - disable_button [default: 3]
  - spin_frequency [default: 10]
  - joy_topic_name [default: joy]
  - cmd_vel_topic_name [default: cmd_vel_mux/input/joystick]
  - enable_topic_name [default: enable]
  - disable_topic_name [default: disable]
launch/keyop.launch
- Raw keyop configuration for working with the default kobuki launcher (minimal.launch).
launch/minimal.launch
launch/minimal_with_imu.launch
launch/minimal_with_tf.launch
launch/deprecated/includes/gmapping.launch.xml
- - scan_topic [default: scan]
  - base_frame [default: base_footprint]
  - odom_frame [default: odom]
launch/includes/ekf_odom_imu.launch.xml
- "odom"->"base_footprint"のtfを推定して発行.
launch/includes/minimal.launch.xml
- - config_file [default: $(find tms_rc_mimamorukun_control)/param/cmd_vel_mux.yaml]
  - publish_tf [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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