[jsk_generic_teleop] Just specify the Eus model and input device, and the robot will be ready to move.

[Michi-Tsubaki]

As Professor k-okada mentioned, I created a teleoperation machine that works by just specifying the euslisp model, initial posture, and input device.

I checked PR2, G1 and G1, all real robot.

Spacenav (relative position representation)とTouch HID (absolute position representation)

is supported, and devices input with similar msg are supported.

I'm currently trying PS5 Joystic input, so this is WIP. Since JOY is XY, I am looking at PR2's Joy and considering which button to use for Z.

Touch HID

Screencast.from.2026-04-26.16-58-03.webm

Space Nav

Screencast.from.2026-04-26.18-59-35.webm

I have prepared the offset and scale of the initial pose that seems good for each robot in sample/,
Removing options such as scaling and initial posture, it works with at least this minimum arguments.

(ros::roseus "hoge")
(require "package://pr2eus/pr2-interface.l")
(require "package://jsk_generic_teleop/euslisp/jsk-generic-teleop.l")
(pr2-init)
(jsk-generic-teleop
 :robot *pr2*
 :arms '(:larm :rarm)
 :device-type :omni
 :origin-offsets nil
 :spacenav-topic "/spacenav/joy"
)

[Michi-Tsubaki]

Translational teleoperation is OK with Joystic PS5, rotation is WIP.

Screencast.from.2026-04-26.19-35-42.webm

[Michi-Tsubaki]

In jsk-ros-pkg/jsk_robot#1947 (comment), I confirmed that teleoperation tasks can be performed using the sample for g1 in this repository.