# omy_f3m_teleop

*This file is ai generated. Do not edit this file directly. Instead, edit the node source code and run the generate-node-docs command to update this file.*

## Node Name
`keyboard_controller`

## Description
Keyboard teleoperation node for controlling the OpenManipulator-Y F3M robot arm with 6 joints and a gripper. The node provides real-time keyboard control to adjust individual joint positions and gripper state through interactive terminal input.

## Publishers
- **Topic**: `/arm_controller/joint_trajectory`
  - **Type**: `trajectory_msgs/msg/JointTrajectory`
  - **Description**: Publishes joint trajectory commands for the 6-joint robot arm (joint1-joint6).

## Subscribers
- **Topic**: `/joint_states`
  - **Type**: `sensor_msgs/msg/JointState`
  - **Description**: Subscribes to current joint states to track arm positions and gripper position (rh_r1_joint).

## Actions (Client)
- **Action**: `/gripper_controller/gripper_cmd`
  - **Type**: `control_msgs/action/GripperCommand`
  - **Description**: Sends gripper position commands with maximum effort of 10.0 N.

## Parameters
This node does not expose configurable parameters. The following internal constants control behavior:
- **max_delta**: 0.02 radians - Maximum position change per command for arm joints
- **gripper_delta**: 0.1 - Position change increment for gripper
- **command_interval**: 0.02 seconds - Minimum time between commands
- **gripper_max**: 1.1 - Maximum gripper opening position
- **gripper_min**: 0.0 - Minimum gripper opening position
- Joint limits: -3.14 to 3.14 radians for all 6 joints

## Example Usage

### Launch the node
```bash
ros2 run open_manipulator_teleop omy_f3m_teleop
```

### Keyboard controls
Once running, use the following keys to control the robot:
- **1/q**: Increase/decrease joint1 position (±0.02 rad)
- **2/w**: Increase/decrease joint2 position (±0.02 rad)
- **3/e**: Increase/decrease joint3 position (±0.02 rad)
- **4/r**: Increase/decrease joint4 position (±0.02 rad)
- **5/t**: Increase/decrease joint5 position (±0.02 rad)
- **6/y**: Increase/decrease joint6 position (±0.02 rad)
- **o**: Close gripper (decrease position)
- **p**: Open gripper (increase position)
- **ESC**: Exit the program

### Example workflow
```bash
# Start the robot hardware or simulation first
ros2 launch open_manipulator_bringup omy_f3m.launch.py

# In a new terminal, run the teleop node
ros2 run open_manipulator_teleop omy_f3m_teleop

# Wait for "Ready to receive keyboard input!" message
# Use keyboard keys to control joints and gripper
# Press ESC to exit cleanly
```

### Monitor joint commands
```bash
# In another terminal, monitor the published trajectories
ros2 topic echo /arm_controller/joint_trajectory

# Monitor gripper action status
ros2 action list
ros2 action info /gripper_controller/gripper_cmd
```