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teleop_keyboard_omni3 package from teleop_keyboard_omni3 repoteleop_keyboard_omni3 |
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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/YugAjmera/teleop_keyboard_omni3.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-11-01 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration : 0 / 0 |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Generic keyboard teleop for 3 wheeled omnidirectional robots.
Additional Links
Maintainers
- Yug Ajmera
Authors
- Yug Ajmera
teleop_keyboard_omni3
Generic Keyboard Teleop for 3 Wheeled Omnidirectional robots
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For package details : ROS Wiki
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Motion Analysis of 3 wheeled omnidirectional robot (Theory involved in writing the code): Blog post
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Simulated the three-wheeled robot on Gazebo to test the code. Package Link : omni3ros_pkg
Installation
cd ~/catkin_ws/srcgit clone https://github.com/YugAjmera/teleop_keyboard_omni3cd ~/catkin_wscatkin_makesource ~/catkin_ws/devel/setup.bashsource ~/.bashrc
Change the topic names in this scipt according to your robot.
Launch
Run.
rosrun teleop_keyboard_omni3 teleop_keyboard_omni3.py
Usage
Reading from the keyboard !
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Moving around:
u i o
j k l
m , .
For Holonomic mode (strafing), hold down the shift key:
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U I O
J K L
M < >
anything else : stop
q/z : increase/decrease max speeds by 10%
CTRL-C to quit
If our work is helpful to you, please kindly cite our paper as:
@inproceedings{mishra2019ego,
title={Ego-Centric framework for a three-wheel omni-drive Telepresence robot},
author={Mishra, Ruchik and Ajmera, Yug and Mishra, Nikhil and Javed, Arshad},
booktitle={2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)},
pages={281--286},
year={2019},
organization={IEEE}
}
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.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.