|Note: This tutorial assumes that you have completed the previous tutorials: Pairing.|
|Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.|
Run Interactions with QT RemoconDescription: shows start interactions via rqt remocon
Keywords: pairing, robot app manager,
Tutorial Level: INTERMEDIATE
Next Tutorial: Run Interactions with Android Remocon
QT Remocon provides an easy way to pair remote PC and the robot. It communicates with interactions manager to start client side interface and pair with robot(or rocon) app.
This tutorial assumes that you have started rocon_app_manager with Pairing, previous tutorial.
Install rocon_remocon to use rocon_remocon and rqt_remocon
> sudo apt-get install ros-indigo-rocon-remocon ros-indigo-rocon-apps
This is interaction configuration for QT teleop. It configures PC GUI to start, its role, paired app to be started in robot, and others. Please check Interaction Specification for more details. Note that there are example interactions included in pairing.interactions in rocon_app_manager_tutorials.
Also note that, QT remocon can start global executable, roslaunch, and rosrunable applications.
1 # Teleop testing 2 - name: rocon_teleop 3 role: Pairing 4 compatibility: rocon:/pc/*/hydro|indigo/precise|quantal|raring|saucy|trusty 5 display_name: Qt Teleop 6 description: Teleop'ing turtles via an rqt plugin. 7 max: -1 8 parameters: 9 maximum_linear_velocity: 1.0 10 maximum_angular_velocity: 0.78 11 remappings: 12 - remap_from: cmd_vel 13 remap_to: /turtle1/cmd_vel 14 - remap_from: compressed_image 15 remap_to: /cybernetic_pirate/compressed_image 16 pairing: 17 rapp: rocon_apps/video_teleop
> export ROS_MASTER_URI=http://<ROBOT_IP>:11311 > export ROS_HOSTNAME=<PC_IP> > rqt_remocon
Rocon Remocon wraps Rqt Remocon with Master Chooser. So you can select a robot without configuring ROS_MASTER_URI.
Qt Teleop via Remocon