teleop_keyboard_omni3

Generic Keyboard Teleop for 3 Wheeled Omnidirectional robots

• For package details : ROS Wiki

• Motion Analysis of 3 wheeled omnidirectional robot (Theory involved in writing the code): Blog post

• Simulated the three-wheeled robot on Gazebo to test the code. Package Link : omni3ros_pkg

Installation

1. cd ~/catkin_ws/src
2. git clone https://github.com/YugAjmera/teleop_keyboard_omni3
3. cd ~/catkin_ws
4. catkin_make
5. source ~/catkin_ws/devel/setup.bash
6. source ~/.bashrc

Change the topic names in this scipt according to your robot.

Launch

Run.

rosrun teleop_keyboard_omni3 teleop_keyboard_omni3.py 

Usage

Reading from the keyboard !
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

For Holonomic mode (strafing), hold down the shift key:
---------------------------
   U    I    O
   J    K    L
   M    <    >


anything else : stop

q/z : increase/decrease max speeds by 10%

CTRL-C to quit

If our work is helpful to you, please kindly cite our paper as:

@inproceedings{mishra2019ego,
  title={Ego-Centric framework for a three-wheel omni-drive Telepresence robot},
  author={Mishra, Ruchik and Ajmera, Yug and Mishra, Nikhil and Javed, Arshad},
  booktitle={2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)},
  pages={281--286},
  year={2019},
  organization={IEEE}
}