ezrassor_teleop_actions

Summary

The ezrassor_teleop_actions package allows users to send pre-defined commands to the EZRASSOR. This functionality is useful to simulate real-life teleoperation over an unstable or delayed connection, such as teleoperation between Earth to Mars. The teleop_action_server node processes incoming goals (commands) and sends feedback at each iteration of execution until the goal is achieved or the action is interrupted.

Inputs/Outputs

The following is a list of topic inputs and outputs, with each topic's type shown in brackets:

INPUTS
node <- /gazebo/link_states [gazebo/LinkStates]
node <- /teleop_action_server [ezrassor_teleop_msgs/Teleop]

OUTPUTS
node -> /wheel_instructions [geometry_msgs/Twist]
node -> /front_drum_instructions [std_msgs/Float32]

Messages

Teleop

This message holds the goal information for the EZRASSOR.

# Goal
string operation ([forward, backward, left, right, dig, dump])
float64 duration (time in seconds)

# Result
float64 x (from link states)
float64 y (from link states)

# Feedback
string heading
float64 x (from link states)
float64 y (from link states)

Scripts

teleop_action_client

This script validates incoming goals from a file, maps them to a valid goal object, then sends each goal to the action server in the correct order.

Launch Files

teleop_actions_server.launch

This launch file spins up an action server for a single robot.

Examples

Launch the simulation with the actions server:

roslaunch ezrassor_launcher configurable_simulation.launch control_methods:=actions

Then send actions from the Python interpreter:

python2

from teleop_action_client import TeleopActionClient
client = TeleopActionClient()
actions = ["forward 5", "backward 5"]
client.validate(actions)
client.send_movement_goal(actions)

Or send actions from file:

rosrun ezrassor_teleop_actions teleop_action_client /path/to/my-actions-file

Example actions file:

# Comments start with the pound sign
FORWARD 5
BACKWARD 5
DIG 2