Purpose
You continue your tour of ROS and Robotic programming by focusing on how teleoperation is usually implemented, and also how you combine user input with the logic of a robot. And more broadly you will get exposed to another kind of ROS program.
Do this
Read Chapter 8 of PRR and remember to refer to our extra Notes for Chapter 8 To understand this you really need to run some code!
Submit this
Please respond to the following warmup questions:
- What features are added to produce key_to_twist_using_rate.py from the previous version, why would that be useful and what line in the program contains the key change?
- This will take a little research: on page 114 you see
rospy.Subscriber('keys', String, keys_cb, twist_pub). What does each parameter do?
- On page 124 you see
./keys_to_twist_with_ramps.py _linear_scale:=0.5 _angular_scale:=1.0 _linear_accel:=1.0 _angular_accel:=1.0. What does the := notation mean or do?