scitos_cmd_vel_mux

This package provides a launch and parameter file that is tailored to a scitos A5 robot using the navigation stack and a teleoperation node like scitos_teleop.

Installation

  • Run catkin_make
  • Run dependencies are installed via rosdep.

Usage

  • Run

    roslaunch scitos_cmd_vel_mux mux.launch

  • Remap your navigation stack /cmd_vel output to /cmd_vel_mux/input/navigation

  • Run

    roslaunch scitos_teleop_mux.launch

    This remaps the joystick output to /cmd_vel_mux/input/joystick and now the joystick will always have priority as soon as you press the dead-man-switch. Or you can run any other teleoperation node and do the remapping yourself.

Original page: https://github.com/strands-project/scitos_apps/blob/hydro-devel/scitos_cmd_vel_mux/README.md