The keyboard_smooth package provides a smoothing function to control the teleop of the waiterBot. The application adds an s-curve to the velocity input to the waiterBot for smooth start-and-stop.

Get Started

To launch the application, use

roslaunch keyboard_smooth keyboard_smooth.launch

Parameters

The parameters set in the launch file are as follows:

1. scale_angular - scales the angular velocity input from the teleop

2. scale_linear - scales the linear velocity input from the teleop

3. range - the value at which the smoothing function stops

4. L_stepsize - stepsize for linear velocity to increment/decrement to the range value

5. A_stepsize - stepsize for angular velocity to increment/decrement to the range value