Teleop

Package Teleop

Teleop is the package used for testing the vehicle manually underwater. We use following keys to control the vehicle :

1. Arrow Key Up - Move Forward

thruster.speedfwd1 = 1900;
thruster.speedfwd2 = 1900;

2.Arrow Key Down - Move Backwards

thruster.speedfwd1 = 1100;
thruster.speedfwd2 = 1100;

3.Arrow Key Right - Move Right

thruster.dir1 = 1900
thruster.dir2 = 1100

4.Arrow Key Left - Move Left

thruster.speeddir1 = 1100
thruster.speeddir2 = 1900

5.Key W - Depth up

thruster.speedup1 = 1100;
thruster.speedup2 = 1100;
thruster.speedup3 = 1100;
thruster.speedup4 = 1100;

6.Key S - Depth down

thruster.speedup1 = 1900;
thruster.speedup2 = 1900;
thruster.speedup3 = 1900;
thruster.speedup4 = 1900;

The constant 1900 and 1100 are default PWM values, in package teleop they can be dynamically reconfigured to change PWM values using the GUI package or ROS RQT.