[Closed] ROSbot XL assisted teleop

[doofn]

Hey,

In the ros2 humble navigation, there exists the assisted teleop actions/behaviours. But I am struggling to get that to work in rosbot xl. What is the correct way to enable this feature.

The goal is to teleop the rosbot with joystick but not allow it to hit objects. The assisted teleop node should handle this.

I noticed you have your own teleop repo in Git. Is modifying this the best way to start approaching this?

GitHub - husarion/rosbot-xl-teleop-snap: Building rosbot-xl-teleop snap

Thanks in advance!

[RafalGorecki]

Hello @doofn,

I’m not an expert in these matters, but the procedure you presented should come down to 3 steps.

• Navigation task: for this I recommend using the nav2 package. You can also use the rosbot-xl-autonomy repository, but the package is under development and the stable version should be released only in February.
• Joistick teleop task: here it is probably best to use the joy2twist package. We also have a package configured for Logitech F710 that you can get inspired by.
• Assisted Teleop task: I’m not sure how this works in nav2, but perhaps the functionality you specified already exists. Perhaps this article will be helpful:
  Simple Commander API — Nav2 1.0.0 documentation. However, if you have problems, it is worth asking a question at https://robotics.stackexchange.com/ or GitHub - ros-planning/navigation2: ROS2 Navigation Framework and System

I hope some of this information will be helpful.

Regards