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Teleop
Pushkal Katara edited this page Dec 23, 2017
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Teleop is the package used for testing the vehicle manually underwater. We use following keys to control the vehicle :
- Arrow Key Up - Move Forward
thruster.speedfwd1 = 1900;
thruster.speedfwd2 = 1900;
2.Arrow Key Down - Move Backwards
thruster.speedfwd1 = 1100;
thruster.speedfwd2 = 1100;
3.Arrow Key Right - Move Right
thruster.dir1 = 1900
thruster.dir2 = 1100
4.Arrow Key Left - Move Left
thruster.speeddir1 = 1100
thruster.speeddir2 = 1900
5.Key W - Depth up
thruster.speedup1 = 1100;
thruster.speedup2 = 1100;
thruster.speedup3 = 1100;
thruster.speedup4 = 1100;
6.Key S - Depth down
thruster.speedup1 = 1900;
thruster.speedup2 = 1900;
thruster.speedup3 = 1900;
thruster.speedup4 = 1900;
The constant 1900 and 1100 are default PWM values, in package teleop they can be dynamically reconfigured to change PWM values using the GUI package or ROS RQT.