qrb_ros_robot_base

qrb_ros_robot_base_keyboard is Keyboard command line tools to control Robot base with ROS 2 messages.

Run

  1. Source this file to set up the environment on your device:

ssh root@[ip-addr]
(ssh) export HOME=/opt
(ssh) source /opt/qcom/qirp-sdk/qirp-setup.sh
(ssh) export ROS_DOMAIN_ID=xx
(ssh) source /usr/bin/ros_setup.bash

  1. Use this command to run robot base manager

(ssh) ros2 run qrb_ros_robot_base_keyboard robot_base

Use keyboard to control

---------------------------------------------------------------
Moving around:      Control mode:        Charger command:
u    i    o       1   2   3   ?       8   9   0
j    k    l      Motion mode:         Emergency command:
m    ,    .       4   5   6   7       [   ]
---------------------------------------------------------------

k : stop

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%

1 : application control
2 : charger control
3 : remote controller
? : query current mode

4 : speed mode (for test only)
5 : driver error (for test only)
6 : motion emergency enable (for test only)
7 : motion emergency disable (for test only)

8 : start charging
9 : stop charging
0 : get battery state

[ : emergency enable
] : emergency disable

CTRL-C to quit