[FEEDBACK NEEDED] Safe Teleop

pururastogi · 2020-07-03T10:59:22.136Z

Safe Teleop
It is a local planner which works on the top of a Teleop, and prevents the robot from crashing into the obstacle even if the user input (Teleop) is asking it to crash.

Right now, it uses mouse-teleop for user input and rosbot with Velodyne (VLP-16) for simulation.

Check out its video:

Try it out at mowito-safe-teleop.
(the email is needed for registration, so we can see how many people are actually interested in it. We won’t spam )

Right now it is just for ROS Melodic (getting build errors with kinetic). Will release the kinetic version in a few hours.

We NEED your feedback, to improve and release it.

Timple · 2020-07-03T14:44:10.823Z

As a first feedback: This package has a very atypical installation procedure. First the email, then an installation script which installs binaries.

Typically you can either clone a repo and compile yourself or use package from the ROS build servers. Both these methods we have in place and keep us up-to-date.

This is already a large barrier for us to use your package, the maintenance burden is large so other sub-optimal packages might still be prefered.

pururastogi · 2020-07-03T14:59:36.555Z

@Timple
Thanks for the feedback. That makes sense. Email is indeed the barrier.
I will remove the email part. And will work on putting it on build farms.

do you know any way I can do it, without releasing the source code?

jspricke · 2020-07-03T22:14:04.971Z

Rather use: http://wiki.ros.org/assisted_teleop

chispas · 2020-07-03T23:23:22.000Z

Hi, what version of Ubuntu are you using?

pururastogi · 2020-07-04T06:04:36.964Z

@chispas
Ubuntu 18, ros Melodic

pururastogi · 2020-07-04T06:08:44.826Z

@jspricke

Awesome! assissted teleop is doing the same thing as safe teleop, but with trajectory planner ROS ( we use different controller/local planner).
I didn’t know about its existence, thanks a ton!

pururastogi · 2020-07-10T08:06:21.886Z

Done!
As per @Timple advise I have removed the email registration.

You don’t need to register or even visit the website.

here are the updated steps:

clone the debians (still need to figure out how to deploy with apt)
git clone -b melodic git@github.com:mowito/safe_teleop.git ~/safe_teleop
and then run the setup file to install the debians and dependencies. You can do it manually also, all the debians are in the debians folder.
cd ~/safe_teleop && ./setup.sh
run the launch file
roslaunch ~/safe_teleop/launch/maxl_sim.launch

Enjoy! Do provide the feedback!

emersonknapp · 2020-07-10T20:00:05.693Z

To remove the requirement for nonstandard setup, you could introduce this logic into a CMake script, similar to how the _vendor packages work in ROS2. That way, you can provide this wrapper package to download your proprietary binaries without requiring any nonstandard setup instructions.

pururastogi · 2020-07-11T15:22:16.784Z

@emersonknapp
thats an interesting idea. I will try it out. Thanks bud!