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

jsk_generic_teleop/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(jsk_generic_teleop)
+
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  roseus
+  sensor_msgs
+  std_msgs
+)
+
+catkin_package(CATKIN_DEPENDS
+  geometry_msgs
+  roseus
+  sensor_msgs
+  std_msgs
+)
+
+file(GLOB PYTHON_SCRIPTS scripts/*.py)
+catkin_install_python(
+  PROGRAMS ${PYTHON_SCRIPTS}
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY config euslisp launch sample
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)

jsk_generic_teleop/README.md

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+# jsk_generic_teleop
+
+`jsk_generic_teleop` provides a Roseus teleoperation loop that keeps input-device handling separate from robot IK.
+
+The main entry point is `jsk-generic-teleop` in `euslisp/jsk-generic-teleop.l`.
+It subscribes to one input device, updates target end-effector coordinates, solves IK on the Eus robot model, and sends the resulting angle-vector through the robot interface.
+
+
+## Supported input devices
+
+- **Touch HID/USB** `:omni`: absolute input from `omni_msgs/OmniState`
+- **Space Navigator** `:spacenav`: relative input from `sensor_msgs/Joy`
+
+
+## Dependencies
+
+The following package is released, please build manually,
+[omni_msgs](https://github.com/bharatm11/Geomagic_Touch_ROS_Drivers)
+
+
+## Usage
+
+Load your robot model and interface first, then call:
+
+```lisp
+(require "package://jsk_generic_teleop/euslisp/jsk-generic-teleop.l")
+(jsk-generic-teleop
+ :robot *robot*
+ :arms '(:larm :rarm)
+ :device-type :omni
+ :init-pose :reset-pose
+ :origin-offsets '((:larm . (:pos #f(400 100 50)
+                            :rpy-deg #f(0 0 0)))
+                   (:rarm . (:pos #f(400 -100 50)
+                            :rpy-deg #f(0 0 0))))
+ :ratio 0.5)
+```
+
+For relative input:
+
+```lisp
+(jsk-generic-teleop
+ :robot *robot*
+ :arms '(:rarm)
+ :device-type :spacenav
+ :init-pose :reset-pose
+ :origin-offsets #f(0 0 0)
+ :ratio 1.0)
+```
+
+The relative `Joy` convention is axes `[x y z roll pitch yaw]`.
+Buttons `0` and `1` select the first and second arm when two arms are passed.
+
+For Touch HID, `origin-offsets` defines where the device zero pose lands in
+the robot world frame after `init-pose` is applied. A plain `#f(x y z)` still
+works for position-only offsets. Use `(:pos #f(x y z) :rpy #f(roll pitch yaw))` or
+`(:pos #f(x y z) :rpy-deg #f(roll pitch yaw))` when the device zero pose also
+needs an orientation offset. The default absolute axis mapping follows
+`nextage_tutorials/euslisp/jsk-nextage-teleop.l`; pass
+`:absolute-rotation-map` when a robot needs a different device-to-robot frame
+mapping.

jsk_generic_teleop/config/jsk-nextage.repos.yaml

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+repositories:
+  rtmros/rtmros_common:
+    type: git
+    url: git@github.com:start-jsk/rtmros_common.git
+    version: master
+  rtmros/rtmros_hironx:
+    type: git
+    url: https://github.com/start-jsk/rtmros_hironx.git
+    version: indigo-devel
+  rtmros/rtmros_nextage:
+    type: git
+    url: git@github.com:Michi-Tsubaki/rtmros_nextage.git
+    version: add-display-launch
+  rtmros/rtmros_tutorials:
+    type: git
+    url: git@github.com:Michi-Tsubaki/rtmros_tutorials.git
+    version: add-camera-and-ft-sensor

jsk_generic_teleop/config/touch-hid.repos.yaml

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+repositories:
+  Geomagic_Touch_ROS_Drivers:
+    type: git
+    url: git@github.com:pazeshun/Geomagic_Touch_ROS_Drivers.git
+    version: dual-phantom-readme