Teleop
[Components, Stand-Alone Components, C++, Linux, QNX]

Teleoperational control from a keyboard or joystick. More...

Teleoperational control from a keyboard or joystick.

This component connects to a robot base and issues motion commands according to user input from a keyboard or joystick. The implementation code lives in the libOrcaTeleop library.

Provides

• orca_interface_home

Requires (one of)

• orca_interface_velocitycontrol2d [Teleop.Requires.Generic]
• orca_interface_drivebicycle [Teleop.Requires.Generic]

Input Drivers

Teleop dynamically loads an implementation of a Hydro hardware interface hydrointerfaces::HumanInput2d. You can also load your own implementation as long as the shared library is in the path. See Hydro documentation for the list of available drivers. See driver documentation for dependencies and possible extra configuration parameters.

• HumanInput2d drivers

Configuration

• Teleop.Config.InputDriverLib (string)
  • The name of the library from which to load the input driver.
  • standard drivers are { "libHydroHumanInput2dKbdTermio.so", "libHydroHumanInput2dJoystick.so", "libHydroHumanInput2dKbdIostream.so" }
  • Default: "libHydroHumanInput2dKbdTermio.so"

• Teleop.Config.RepeatInterval (float) [s]
  • Time interval before a repeat command is sent in the absence of a new command.
  • Default: 0.1
  • Valid values:
    • t<0: Only new commands are sent
    • t=0: Commands are sent as frequently as possible (terribly inefficient)
    • t>0: Commands are sent when new ones are entered, or resent after t seconds (useful if "keep alive" heartbeat is needed).

An example configuration file is installed into [ORCA-INSTALL-DIR]/share/orca/cfg/ directory.

Output driver for VelocityControl2d interface

Connects to a VelocityControl2d interface. "Forward motion" is translated to speed. "Turn" is translated to turnrate.

Additional Configuration

• Teleop.Config.VelocityControl2d.MaxSpeed (double) [m/s]
  • The maximum absolute linear speed which the component will send out
  • Default: 1.0

• Teleop.Config.VelocityControl2d.MaxSideSpeed (double) [m/s]
  • The maximum absolute linear side speed which the component will send out
  • Default: 1.0

• Teleop.Config.VelocityControl2d.MaxTurnRate (double) [deg/s]
  • The maximum absolute rotational speed which the component will send out
  • Default: 40.0

• Teleop.Config.VelocityControl2d.SpeedIncrement (double) [m/s]
  • For input devices which allow command increments (keyboard), by how much the speed will change for each input.
  • Default: 0.05

• Teleop.Config.VelocityControl2d.TurnRateIncrement (double) [deg/s]
  • For input devices which allow command increments (keyboard), by how much the turn rate will change for each input.
  • Default: 2.0

Output driver for VelocityControl2d interface

Connects to a DriveBicycle interface. "Forward motion" is translated to speed. "Turn" is translated to steer angle.

Additional Configuration

• Teleop.Config.DriveBicycle.MaxSpeed (double) [m/s]
  • The maximum absolute linear speed which the component will send out
  • Default: 1.0

• Teleop.Config.DriveBicycle.MaxSteerAngle (double) [deg]
  • The maximum absolute steer angle which the component will send out
  • Default: 45.0

• Teleop.Config.DriveBicycle.SpeedIncrement (double) [m/s]
  • For input devices which allow command increments (keyboard), by how much the speed will change for each input.
  • Default: 0.05

• Teleop.Config.DriveBicycle.SteerAngleIncrement (double) [deg]
  • For input devices which allow command increments (keyboard), by how much the steer angle will change for each input.
  • Default: 5.0

Authors

Alex Makarenko