I agree that joystick messages being converted to cmd_vel could be generalized, but the main hurdle is the mapping from joy stick values (-1 to 1 on each axis) to velocities and yaw rates. In my joy2twist pkg I have scalar variables defined at the top, but they could be made into parameters pretty easily. <div>
<br></div><div><a href="https://github.com/wjwwood/sparcexplorer/blob/master/stacks/sparcexplorer/joy2twist/nodes/joy2twist.py">https://github.com/wjwwood/sparcexplorer/blob/master/stacks/sparcexplorer/joy2twist/nodes/joy2twist.py</a></div>
<div><br></div><div>The other hurdle is that the mapping of additional button functions to other components of the robot i.e. pr2's arms is hard to generalize. It really is just easier to write your own, but maybe a generic one that just converts one stick into cmd_vel's could be useful for people just starting to learn ROS and for convenience.</div>
<div><br></div><div>-- </div><div><br clear="all">~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~<br>William Woodall<br>Graduate Software Engineering<br>Auburn University<br><a href="mailto:w@auburn.edu" target="_blank">w@auburn.edu</a><br>
<a href="mailto:wjwwood@gmail.com" target="_blank">wjwwood@gmail.com</a><br>~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~<br>
<br><br><div class="gmail_quote">On Thu, Nov 11, 2010 at 2:31 PM, Mike Purvis <span dir="ltr"><<a href="mailto:mpurvis@clearpathrobotics.com">mpurvis@clearpathrobotics.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
Okay, sweet, thanks very much for the suggestion. That will be a big improvement--- there are so many packages in ROS, it's sometimes hard to know when to look for a generic version of what you need versus just rolling a quickie new one.<div>
<br></div><div>Teleop seems to be another one of those cases, where individual platforms have their own nodes for it--- there used to be a teleop_base, but now it's deprecated in favour of pr2_teleop, nxt_teleop, etc. So we have our own Clearpath teleop node, but it seems like the basic functionality of turning Joy messages on /joy to appropriately scaled Twist messages on /cmd_vel should be fairly easy to generalize.</div>
<div><br></div><div><font color="#888888">Mike</font><div><div></div><div class="h5"><br><div><br></div><div><br></div><div><br><br><div class="gmail_quote">On 11 November 2010 14:36, Josh Faust <span dir="ltr"><<a href="mailto:jfaust@willowgarage.com" target="_blank">jfaust@willowgarage.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">Runtime remapping is not supported, no. The mux node in topic_tools provides a generic version of your JoySwitch node:<div>
<br></div><div><a href="http://www.ros.org/wiki/topic_tools/mux" target="_blank">http://www.ros.org/wiki/topic_tools/mux</a></div>
<div><br></div><div><a href="http://www.ros.org/wiki/topic_tools/mux" target="_blank"></a>Josh<br><br><div class="gmail_quote"><div><div></div><div>On Thu, Nov 11, 2010 at 11:22 AM, Mike Purvis <span dir="ltr"><<a href="mailto:mpurvis@clearpathrobotics.com" target="_blank">mpurvis@clearpathrobotics.com</a>></span> wrote:<br>
</div></div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><div><div></div><div>Hey all,<div><br></div><div>Is it possible to remap topics (or other names) at runtime?</div>
<div><br></div><div>The reason I ask is this: We have some simple waypoint navigation running with a web gui for our platform, but we like being able to use the web gui to quickly switch over to manual control. Currently, this is implemented with a "JoySwitch" node, which basically acts as a remapper, and which receives its remapping directions from the gui. This seems like a terrible state of affairs, and I'm just wondering what the best course of action is.</div>
<div><br></div><div>Ideally, there'd be some way that the gui could redirect the teleop node's Twist messages over to the platform's namespace without anyone (itself, or any other intermediary) needing to actually receive and resend them. Is this possible? If not, would it be better to have this functionality (the receive and re-send) baked into the gui node itself?</div>
<div><br></div><div>Thanks,</div><div><br></div><font color="#888888"><div>Mike</div>
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