Teleoperation
quori_teleop
allows teleoperation of Quori using an Xbox or Playstation style controller.
Controller Mappings
Left Arm Control (Hold Left Trigger)
l_shoulder_pitch- Left Thumb Stick (Y axis)l_shoulder_roll- Left Thumb Stick (X axis)
Hold A for "fast" mode, which doubles the movement speed.
Right Arm Control (Hold Right Trigger)
r_shoulder_pitch- Right Thumb Stick (Y axis)r_shoulder_roll- Right Thumb Stick (X axis)
Hold A for "fast" mode, which doubles the movement speed.
Base Control (Hold Left Bumper)
Move the holonomic ramsis base.
- Linear X - Left Thumb Stick (Y axis)
- Linear Y - Left Thumb Stick (X axis)
- Angular Z - Right Thumb Stick (X axis)
Waise Hinge Control (Hold Right Bumper)
waste_pitch- Left Thumb Stick (Y axis)
Subscribed Topics
/joint_states- Used for joint position feedback/joy- Joystick input from the ROSjoynode.
Published Topics
/quori/base_controller/cmd_vel- The commanded velocity for the ramsis base/quori/joint_trajectory_controller/command- Joint trajectory commands for Quori's joints.