Teleoperation package for 22' manipulator

Usage

Following commands are required for teleoperation:

rosrun arm22_teleop teleop_server

rosrun arm22_teleop teleop.py

Controls

To change mode first press the middle button on the F710/F310. Then,

Select + Up: JOINT MODE

This mode allows to control each axis separately.

Select + Left: IDLE MODE

This mode puts the manipulator in idle as the name state.

Select + Right: CARTESIAN MODE

This mode is used to control the position of the end effector in Cartesian space.

Select + Down: POSE MODE

this mode is same as idle mode but it allows hardware interface to send serial message. So it is possible to send pose command via rviz in this mode.