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Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/interbotix/interbotix_ros_rovers.git
VCS Type git
VCS Version main
Last Updated 2023-05-18
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The interbotix_xslocobot_joy package

Additional Links

No additional links.

Maintainers

  • Solomon Wiznitzer

Authors

  • Solomon Wiznitzer

interbotix_xslocobot_joy

View Documentation

Overview

This package can be used to control the movements of any rover in the Interbotix X-Series LoCoBot Family using a SONY PS3 or PS4 controller via Bluetooth. In this demo, the ‘arm’ (if equipped) and ‘pan/tilt’ servos work in ‘position’ control mode, the gripper operates in ‘PWM’ mode, and the base operates in ‘velocity’ control mode. Refer to the joystick button map below to see how to operate the robot. Specifically, some of the joystick controls manipulate individual joints while others are used to perform ‘inverse kinematics’ on all the joints to get the end-effector of the robot (defined at ‘ee_gripper_link’) to move as if it’s in Cartesian space. This is done using the modern_robotics code library offered by Northwestern University.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

  • launch/xslocobot_joy.launch
      • robot_model [default: ]
      • robot_name [default: locobot]
      • use_rviz [default: false]
      • rviz_frame [default: $(arg robot_name)/odom]
      • use_base [default: true]
      • base_type [default: $(optenv INTERBOTIX_XSLOCOBOT_BASE_TYPE create3)]
      • use_lidar [default: false]
      • show_lidar [default: $(arg use_lidar)]
      • use_camera [default: false]
      • threshold [default: 0.75]
      • controller [default: ps4]
      • launch_driver [default: true]
      • use_sim [default: false]
      • mode_configs [default: $(find interbotix_xslocobot_joy)/config/modes_$(arg mode_type).yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged interbotix_xslocobot_joy at Robotics Stack Exchange

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