How to control turtle_bot or PR2 UDRF file in browser using keyboard tele_op

[Shrawan99]

I want to access turtle_bot or PR2 UDRF file running in server and want to control from local network PC or web so in that case I cant use joint_state_publisher GUI so want to use keyboard to tele-operate turtlebot UDRF. How can I do that.? I have made this system in Robot management system. I can access the GUI shown in attached image from local network pc as well as by port forwarding.

How can I control UDRF running in browser using keyboard?

[rctoris]

The URDF is simply a visual display of the robot state on the ROS end. Without running some kind of simulation, physical robot, or custom node which changes the TF between two frames based on a ROS message (e.g., what http://wiki.ros.org/turtlesim is doing) you cannot control a URDF.

[Shrawan99]

Dear sir, Thank you for your kind time to response my issue. But i wonder does the tutorials shown in this website http://wiki.ros.org/keyboardteleopjs/Tutorials/CreatingABasicTeleopWidgetWithSpeedControl works for my issues? or can we add the algorithm of joint_state_publisher to our html page like this https://github.com/RobotWebTools/robotwebtools.github.io/commit/f0895d557541c03940aa7126884f7e471db594a3 We have a simulation engine running on gazebo Thanking you for you time.

[rctoris]

keyboardteleopjs simply sends velocity commands to a robot or rosnode which accepts them. The joint state publisher will also not solve your problem since there isn't a joint between the robot's base and the world. For you solution, you will need to make a custom ROS node which accepts velocity commands and publishes a TF from the robot's base to some fixed world frame. http://wiki.ros.org/tf/Tutorials

[MerAARIZOU]

Hi, Sorry for interfering maybe it's not the main issue here. But what you're suggesting here @rctoris is making the urdf file "mimicking" the real robot. What if we do the opposite thing: manipulating the model and the real robot should mimicking it.