Movement controller for Leo Rover

A simple controller for Leo Rover that allows to control the rover's movement using:

• keyboard ⌨️
• gamepad 🎮 (tested: Xbox One, but should work with any controller)

... in ROS Noetic (and tested in Gazebo, but should work on real robot too!).

Note: A more detailed documentation can be found in the docs/ directory. There is a more detailed description and more technical details, as well as a walkthrough of setting up the robot and running the controller.

Features

• Control the rover's movement using keyboard ⌨️ or gamepad 🎮
• Velocity sensitive movement (on gamepads)
• Mappable keys for keyboard (see Mapping keys)
• Client (this app) sends commands to the server (Leo Rover) using sockets over TCP/IP
• Server (Leo Rover) receives commands and publishes them to ROS topics

Mapping keys

The keys can be mapped in the leo_robot_controller/input/keybinds.py file. Here, you can find the default keybinds and customize them to your liking.

Features to be implemented

• Add mappable gamepad controlls
• Add haptic feedback for gamepad