Isomorphic teleop (`drag_teleop_controller`)¶

Master–slave isomorphic teleop (同构遥操作) for HighTorque Panthera HT dual-arm. The ROS package is still named drag_teleop_controller; that is not drag teaching.

Repository: fiveages-sim/drag_teleop_controller

README: README.md

Purpose¶

One ros2_control controller plugin, started twice:

role:=master — operator arm with Pinocchio gravity compensation (τ_G = rnea(q, 0, 0)); optional force feedback
role:=slave — follower; tracks mapped master joints (position / mit / effort)

Joint mapping (and effort mapping under power conservation) is applied before publishing teleop_states. Arm joints (12) are commanded by this controller; grippers use adaptive_gripper_controller.

There is no enter_teach_mode, /start_recording, or /playback service.

Launch¶

Launch file: drag_teleop_controller.launch.py (not drag_teleop.launch.py).

# Mock
ros2 launch drag_teleop_controller drag_teleop_controller.launch.py \
  role:=master hardware:=mock_components
ros2 launch drag_teleop_controller drag_teleop_controller.launch.py \
  role:=slave hardware:=mock_components

# Real (see README for mode × hardware-interface requirements)
ros2 launch drag_teleop_controller drag_teleop_controller.launch.py \
  role:=master hardware:=real mode:=effort \
  hardware_control_mode:=effort
ros2 launch drag_teleop_controller drag_teleop_controller.launch.py \
  role:=slave hardware:=real mode:=mit

Default robot is panthera_ht. Namespaces are /drag_teleop_{role}.

Services¶

Service	Type	Description
`/drag_teleop_{role}/teleop_mode`	`drag_teleop_controller/srv/TeleopMode`	Runtime `position` / `mit` / `effort`
`/drag_teleop_{role}/teleop_feedback`	`drag_teleop_controller/srv/TeleopFeedback`	Master-only: `false` / `position` / `effort`

Topics¶

Topic	Direction	Description
`/drag_teleop_master/teleop_states`	Publish (master) / Subscribe (slave)	Forward-mapped master state
`/drag_teleop_slave/teleop_states`	Publish (slave) / Subscribe (master)	Inverse-mapped slave state

Launch arguments¶

Argument	Default	Meaning
`role`	(required)	`master` \| `slave`
`robot`	`panthera_ht`	`{robot}_description` package
`type`	`dual`	`single` \| `left` \| `right` \| `dual`
`hardware`	`mock_components`	`real` \| `real_usb` \| `mock_components` \| `gz` \| `isaac`
`mode`	(yaml)	`position` (slave only) \| `mit` \| `effort`
`feedback`	(yaml)	`false` \| `position` \| `effort` (master)
`moveJ_pub`	`false`	Master publishes OCS2 moveJ + gripper commands
`controller_params`	package yaml	e.g. `panthera_ht_2_panthera_ht.yaml`

Mode × hardware command-interface matrix, control laws, and YAML keys: read the README. DexCap mapping is a separate package: teleop-joint-mapper.

Isomorphic teleop (drag_teleop_controller)¶