If someone was willing to coordinate/maintain a "teleop_mobile" stack,
we would happily accept/anoint it.  As Brian notes, the difficulty is
in ensuring that such a 'general' teleoperation package generically
controls a variety of robots.  We would not be able to do such a stack
ourselves (at least for Electric) as our post-ICRA todo list is a bit
too much right now.

It sounds like there are (at least) two good starting points for
packages to include.  For keyboard, the stack that Chad mentions:

http://www.ros.org/wiki/teleop_twist_keyboard

And for joystick, we have our teleoperation package we use with the TurtleBot:

http://www.ros.org/wiki/turtlebot_teleop

The joystick case is a bit more difficult as you also have to
parameterize a bit on the joystick.

Our expectation for a maintainer would be to coordinate the community
to get good documentation in place, and also coordinate with the
community to test across multiple robot bases.

 - Ken

On Thu, May 26, 2011 at 9:17 AM, Jenkins, Odest Chadwicke
<odest_jenkins@brown.edu> wrote:
> Hi Brice,
>
> I believe you are correct in that base movement control has been
> reinvented several times over in ROS.  We wrote our own a while back,
> but there are probably other quality movement controllers across the
> ROS space:
>
>  http://www.ros.org/wiki/teleop_twist_keyboard
>
> teleop_twist_keyboard was based on the old playerjoy utility from
> Player, which includes a stop command and has limited handling of key
> press/release events.  We often use teleop_twist_keyboard for the
> Create, AR.Drone, and PR2 (as in the following video):
>
>  http://www.youtube.com/watch?v=M-9sDNnGtIs
>
> I think your post is great reminder that the ROS community could
> benefit from a clearer organization of packages, messages, and
> functionality in ROS.  Such a clear organization does not seem likely
> to happen organically without some guidance from the ROS leadership.
>
> -Chad
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