remote_controller Node
In a nutshell
Remote controller ROS node class. Receives from a joystick (using pygame) the desired controls for the inner-loops and publishes these periodically (at a predefined frequency) to the inner-loops of the vehicle.
Diagram
Subscribers
| Subscribers | msgs type | Purpose |
|---|---|---|
| /#vehicle#/nav/filter/state | auv_msgs/NavigationStatus | State of the robot platform |
Publishers
| Publishers | msgs type | Purpose |
|---|---|---|
| /#vehicle#/ref/surge | std_msgs/Float64 | surge ref to inner loop control |
| /#vehicle#/ref/sway | std_msgs/Float64 | sway ref to inner loop control |
| /#vehicle#/ref/heave | std_msgs/Float64 | heave ref to inner loop control |
| /#vehicle#/ref/yaw_rate | std_msgs/Float64 | yaw_rate ref to inner loop control |
| /#vehicle#/ref/depth | std_msgs/Float64 | depth ref to inner loop control |
| /#vehicle#/ref/yaw | std_msgs/Float64 | yaw ref to inner loop control, not sent via remote controller, but using last kown yaw from robot state. Published when yaw_rate is not active. |
Services
- None
Parameters
| Parameters | type | Default | Purpose |
|---|---|---|---|
| joystick | string | gamesir | Name of the joystick being used. Note: It has its own configurations, see available examples and use the following webpage, for getting the right buttons ids, when configuring a new remote controller. |
| mode | string | bluetooth | Configurations for both usb and bluetooth |
Last update:
November 8, 2022