Mirrors the SO-101 leader arm's joint_states into the follower's controller topics.
Runs as an always-on daemon. Configure via snap set:
snap set so101-teleop leader-topic=/leader/joint_states
snap set so101-teleop jtc-topic=/follower/arm_trajectory_controller/joint_trajectory
snap set so101-teleop ros-domain-id=0
snap set so101-teleop rmw-implementation=rmw_fastrtps_cpp
snap install so101-bringup so101-teleop works together with no
configuration. If so101-safety is also installed in mode=jtc, route the
trajectory through its gate instead of straight at the controller:
snap set so101-teleop jtc-topic=/safety/follower/arm_trajectory_in
Check status with snap services so101-teleop / snap logs so101-teleop.
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Snaps are applications packaged with all their dependencies to run on all popular Linux distributions from a single build. They update automatically and roll back gracefully.
Snaps are discoverable and installable from the Snap Store, an app store with an audience of millions.
Snap is available for CentOS 7.6+, and Red Hat Enterprise Linux 7.6+, from the Extra Packages for Enterprise Linux (EPEL) repository. The EPEL repository can be added to your system with the following command:
sudo yum install epel-release
Snap can now be installed as follows:
sudo yum install snapd
Once installed, the systemd unit that manages the main snap communication socket needs to be enabled:
sudo systemctl enable --now snapd.socket
To enable classic snap support, enter the following to create a symbolic link between /var/lib/snapd/snap and /snap:
sudo ln -s /var/lib/snapd/snap /snap
Either log out and back in again, or restart your system, to ensure snap’s paths are updated correctly.
To install so101-teleop, simply use the following command:
sudo snap install so101-teleop
Browse and find snaps from the convenience of your desktop using the snap store snap.
Interested to find out more about snaps? Want to publish your own application? Visit snapcraft.io now.