szenergy / human_interface_controllers

Human interface drivers made for our projects

Human-interface software

This repository contains software related to the human-control (e.g. through wheel or keyboard) of simulated/real vehicles and robots.

Installation

Obtain szelectricity_common from the following repository: https://github.com/szenergy/szenergy-common Or use VCS, to import prerequisite pacakge:

vcs -w1 import < ../req.repos

To use this software, install the following prerequisites:

• libncurses (sudo apt install libncurses-dev)

If you require game-like keyboard control:

• libsdl2-dev

Getting started

Keyboard controller

To use the keyboard controller, compile the workspace. Then you can start the node, with the following command:

rosrun keyboard_controller keyboard_controller_node

If you see the following, you are all setup.

Car-like keyboard control
-------------------------
    /\   :W
A:<    > :D
    \/   :S

Expect control commands on ctrl_cmd topic (type: autoware_msgs/ControlCommandStamped).