Creating a teleoperation node using the Leap Motion controller

In this section, we can see how to create a teleoperation node for a robot using Leap Motion data. The procedure is very simple. We have to create a ROS package for this node. The following is the command to create a new package. You can also find this package from chapter_11_codes/vr_leap_teleop.

$ catkin_create_pkg vr_leap_teleop roscpp rospy std_msgs visualization_msgs geometry_msgs message_generation visualization_msgs

After creation, you can use catkin_make. Now, let's create the node to convert Leap Motion data to Twist. You can create a folder called scripts inside the vr_leap_teleop package. Now you can copy the node called vr_leap_teleop.py from the existing package. Let's see how this code works.

We need the following Python modules in this node. Here, we require message definitions from the leap_motion package, which is the driver package.

    import rospy 
    from leap_motion.msg import leap 
    from leap_motion...