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The keyboard_smooth_safe packages provides a keyboard teleop for the waiterbot which uses a modified joint driver to cause smoother movements and the proximity sensor to avoid collisions with the environment.

Get Started

To start the keyboard_smooth_safe teleop you first have to bring up the skin using

roslaunch skin_common bringup_skin.launch

Then you might want to make sure you have the right amount of patches set

rosrun skin_config skin_config

After these steps you are ready to run the teleop

roslaunch keyboard_smooth_safe keyboard_smooth_safe.launch

Use the arrow keys to move the robot aroun.

Parameters

The keyboard_smooth_safe node takes 3 parameters:


2022-05-28 12:43