teleop2servo

ROS 2 teleoperation node for controlling a robot using MoveIt Servo with various input devices.

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What it does

• Sends JointJog and TwistStamped commands from input device
• Supports joint and cartesian (base frame and tool frame) control
• Clean shutdown with Ctrl+C

Run

Important

Make sure MoveIt Servo is running and the terminal window has focus.

For more details, see: https://github.com/AGH-CEAI/aegis_ros/tree/humble-devel/aegis_moveit_config

Note

Install dependencies: rosdep install --from-paths src --ignore-src -r -y

For gamepad input

Note

Make sure the ROS 2 joy package is installed.

ros2 launch teleop2servo teleop.launch.py

You can configure GamepadTeleopNode parameters in config/gamepad_config.yaml.

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Development notes

This project uses various tools for aiding the quality of the source code. Currently most of them are executed by the pre-commit. As a faster alternative it is suggested to use prek. Please make sure to enable its hooks:

# In case of pre-commit
pre-commit install
# In case of prek
prek install

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License

This repository is licensed under the Apache 2.0, see LICENSE for details.