107-systems / t07_teleop

Keyboard based teleoperation for the T07 mobile outdoor robot.

💾 t07_teleop

Keyboard based teleoperation for the T07 mobile outdoor robot.

Use W-A-S-D for driving forward, backward and turning. Use Space to stop.

How-to-build

Note: Don't forget to install the dependencies.

cd $COLCON_WS/src
git clone --recursive https://github.com/107-systems/t07_teleop
cd $COLCON_WS
source /opt/ros/humble/setup.bash
colcon build --packages-select t07_teleop

How-to-run

cd $COLCON_WS
. install/setup.bash
ros2 launch t07_teleop teleop.py

Interface Documentation

Published Topics

Default name	Type	Description
/motor/left/target	std_msgs/Float32	Motor left set-point in m/s
/motor/right/target	std_msgs/Float32	Motor right set-point in m/s

Subscribed Topics

Default name	Type	Description

Parameters

Name	Default	Description
motor_left_topic	motor/left/target
motor_left_topic_deadline_ms	100
motor_left_topic_liveliness_lease_duration	1000
motor_right_topic	motor/right/target
motor_right_topic_deadline_ms	100
motor_right_topic_liveliness_lease_duration	1000

Install dependencies

• Install gsl-lite

git clone https://github.com/gsl-lite/gsl-lite && cd gsl-lite
mkdir build && cd build
cmake .. && make -j8
sudo make install

• Install Catch2

git clone https://github.com/catchorg/Catch2 && cd Catch2
mkdir build && cd build
cmake .. && make -j8
sudo make install

• Install fmt

git clone https://github.com/fmtlib/fmt && cd fmt
mkdir build && cd build
cmake -DFMT_TEST=OFF ..
make -j8
sudo make install