Crate mecha10_nodes_teleop 

Teleoperation Coordination Node

Arbitrates between multiple teleoperation input sources and publishes velocity commands to the motor controller. Provides safety features like command timeout, priority arbitration, and emergency stop.

Architecture

This node is a pure coordination layer with no UI. Multiple control interfaces (CLI, dashboard, game controller) publish to /teleop/cmd, and this node decides which commands to forward to /motor/cmd_vel.

Topics

• Subscribes: /teleop/cmd (TeleopInput) - Commands from control sources
• Publishes: /motor/cmd_vel (Twist) - Velocity commands to motor
• Publishes: /teleop/status (TeleopStatus) - Current state for UIs

Modules

topics

Teleop node topics

Structs

TeleopConfig

Teleop node configuration

TeleopNode

Teleoperation coordination node state

Functions

run

Run the teleop node with V2 configuration system