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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 | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| teleop_keyboard_omni3 | 0.0.0 |
README
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 !
---------------------------
Moving around:
u i o
j k l
m , .
For Holonomic mode (strafing), hold down the shift key:
---------------------------
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}
}
CONTRIBUTING
No CONTRIBUTING.md found.