Collaboration diagram for yarpmobilebasegui: Control the mobile base of the robot:

Description

A simple GUI to control the mobile base of the robot via mouse or keyboard:

The keyboard controls are:

W,S    forward/backward (x-axis)
Q      turn left
E      turn right
A,D    lateral (y-axis) (only holonomic robots)
I,K    change linear velocity
O,L    change angular velocity

The gui streams a yarp::dev::MobileBaseVelocity messages on a YARP port, with a default period of 10 milliseconds.

Parameters

The gui accepts the following parameters:

--port <name>         the full name of the output port default value: /yarpmobilebasegui:o
--step_lin_vel        the increase step of linear velocity (m/s) default value 0.05m/s
--step_ang_vel        the increase step of angular velocity (deg/s) default value 5 deg/s
--default_lin_vel     the default value for max linear velocity (m/s) default value: 1m/s
--default_ang_vel     the default value for max angular velocity (deg/s) default value: 10 deg/s

Libraries

Qt5 libraries.