Contents
Overview
This package provides ability to drive Care-O-bot using interactive markers directly from RViz.
System architecture
The package consists of the following components:
- COB teleop interactive marker
ROS API
Brief description of provided ROS services, published topics, etc.
Nodes
An overview of all newly created ROS nodes:
Node Name |
Published Topics |
Description |
but_cob_teleop_marker |
- |
This node publishes interactive markers for driving COB. |
Usage
How to launch COB interactive teleop
- Run COB simulation
roslaunch cob_bringup_sim robot.launch
- Run cob marker teleop node
roslaunch cob_interactive_teleop interactive_teleop.launch
- Start preconfigured RViz
roslaunch cob_interactive_teleop rviz.launch
- Setup RViz:
Switch to Interaction mode
How to control robot using the marker
- Driving forward and backward is done using red arrows.
- Strafe to the left and to the right is done using green arrows.
- Rotating is done using blue disc.
- You can also drive to specified position by moving with the yellow circle.