Closed tfoote closed 8 years ago
Alot of duplication in there I'd not like to maintain.
I'd be tempted to just insert the joystick scripts/configuration into the follower launcher (or follower rapp launcher) as its a nice feature to have regardless. Then you can just start the regular minimal with the rapp_auto_start
arg for turtlebot_rapps/follower
.
Indeed the only extra dependency brought in by making the follower depend on the teleop is the joy
package. See below for the diff. The other packages needed directly are already in the dependency tree. See below for the diff.
I'll reformulate this to be an argument to the follower launch.
tfoote@yeti:~/work/turtlebot/turtlebot_apps Last: [1] (0s Seconds)
$ rospack depends turtlebot_teleop | sort > /tmp/teleop_depends
tfoote@yeti:~/work/turtlebot/turtlebot_apps Last: [0] (1s Seconds)
$ rospack depends turtlebot_follower | sort > /tmp/follower_depends
tfoote@yeti:~/work/turtlebot/turtlebot_apps Last: [0] (0s Seconds)
$ diff -u /tmp/teleop_depends /tmp/follower_depends
--- /tmp/teleop_depends 2016-03-09 14:52:34.157953228 -0800
+++ /tmp/follower_depends 2016-03-09 14:52:43.489905948 -0800
@@ -58,7 +58,6 @@
image_geometry
image_proc
image_transport
-joy
kdl_conversions
kdl_parser
kobuki_auto_docking
@@ -81,9 +80,13 @@
message_runtime
nav_msgs
nodelet
+nodelet_topic_tools
openni2_camera
openni2_launch
orocos_kdl
+pcl_conversions
+pcl_msgs
+pcl_ros
pluginlib
python_orocos_kdl
rgbd_launch
@@ -157,10 +160,12 @@
turtlebot_bringup
turtlebot_capabilities
turtlebot_description
+turtlebot_msgs
unique_id
urdf
urdf_parser_plugin
uuid_msgs
+visualization_msgs
xacro
xmlrpcpp
yocs_cmd_vel_mux
A neat demo we've been running integrating joystick control of the follower app for enabling/disabling and remote control.
Looking at this PR we should probably rename the package. Any other thoughts. I will also want to improve the documentation, but I'm opening the PR for higher visibility.