A framework for multimodal teleoperation in ROS2

Please refer to the documentation.

Motivation

teleop_modular aims to replace packages like teleop_twist_joy and teleop_twist_keyboard, with the intent to:

• Prevent control mode logic being tightly coupled to a specific input source.
• Centralize management of multiple control modes.
  • Integration with ros2_control to dynamically switch active controllers for each control mode.
• Allow new control modes to be easily added to teleop systems using plugins.
  • Promote experimentation with control modes.
  • Allow control mode code to be reused to achieve different functionality (e.g. configuring control modes to use different reference frames).
• Allow novel input sources to be developed and integrated with existing systems
• Improve configuration for individual input sources

Plugins

This is a list of plugins you can use with teleop_modular. Please post plugins to the discussions page to add them to this list.

Control Modes

• teleop_modular_twist/TwistControlMode -- A control mode for sending TwistStamped messages.

Input Sources

• teleop_modular_joy/JoyInputSource -- An input source for joystick devices.

Contributing

All are welcome to contribute. As teleop_modular is still very experimental, I'm keen to hear feedback on any aspect of using the package with your robots.

Please post in the discussions page -- we are happy to help in any way we can!

PRs

Feel free to make a fork of the repository, and raise a pull request with any changes you wish to contribute. Any changes you submit will be under the Apache 2.0 License.

Issues

You are welcome to raise new issues for any bugs or feature requests.

The project development roadmap is outlined for each upcoming version as Milestones.