Hello Turtlebot fans,
I am using the latest Debian Turtlebot packages under Diamondback on Ubuntu 10.04, and I'm trying to use the Turtlebot joystick_teleop_joy node to operate a non-Turtlebot robot that responds to Twist commands on the /cmd_vel topic. But before I get to that point, I am just trying to see the Twist values on the /turtlebot_node/cmd_vel topic (which is the default topic for the stock Turtlebot joystick_teleop.launch file.)
When I toggle the left joystick on the gamepad, the values on the /joy topic update appropriately (axes 0 and 1), but I get nothing nothing but 0's on the /turtlebot_node/cmd_vel. Does the rest of the Turtlebot stack have to be running for this to work? The steps I am following are:
$ roslaunch turtlebot_teleop joystick_teleop.launch $ rostopic echo /joy (numbers update appropriately when left joystick moved) $ rostopic echo /turtlebot_node/cmd_vel (only 0's appear when moving left joystick)
Ha! I was outsmarted by the "deadman's" safety feature. So apparently you have to press and hold the deadman button (mappable in the launch file) in order for the joystick values to be published to /turtlebot_node/cmd_vel. Problem solved.
Asked: 2011-04-18 11:37:02 -0500
Seen: 386 times
Last updated: Apr 18 '11