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RoboCar 1/10 Teleoperation

Joystick Connected to Robot

Nodes are launched by default for it. Please, check the user manual if you have any troubles.

Joystick Connected to Remote PC

Connect joystick dongle to your remote PC instead of robot:

cd ~/ros/src/robocar110_ros

make deps-teleop
make teleop
make run-teleop

Connect other joystick to remote PC:

make run-teleop device=1  # ls /dev/input/js*

Other arguments:

make run-teleop joy_type=logicool     # force joystick type
make run-teleop rc=rc_12345           # set robot and disable switch

Mouse Remote Operation

If you want to move the robocar from remote PC by mouse, do the following:

cd ~/ros/src/robocar110_ros

make deps-teleop
make teleop
make mouse-teleop

Controls

  • Details of the Joystick Joystick Structure

  • Button 5: press and hold it to drive

  • Button 6: switch to next robot (remote PC only)

  • Button 7: increases gear (gear 1 on start)

  • Button 8: decreases gear

  • Button 11: enable/disable baseboard

  • Button 12: enable/disable AD

  • Axis 9: up and down regulates speed

  • Axis 10: changes steering angle

Note: AUTO and CLEAR buttons are not mapped by ROS driver.

Default Gears

  • r: -0.3 is -30% of max accel
  • 1: +0.3 is 30% of max accel
  • 2: +0.6 is 60% of max accel
  • 3: +1.0 is 100% of max accel

Where max accel can be configured as accel axis (see below).

Be careful of putting high values, because the car is not designed for crashing.

Remapping

To know buttons and axes indexes, use rostopic echo /$(hostname | tr - _)/joy. Indexes start from 0.

Buttons mapping is set in rc110_core/rc110_teleop/config/joy_<type>.yaml.

  • steering and accel axes can have additional parameters:
    • <axis>: [index, max, min]
    • if they are not specified, default values are assigned
    • if min is not specified, it equals -max
    • if min is greater than max, axis is inverted
  • For lever type of joystick, steering_aux parameter is used which allows more precise control.

Joy Teleop Node Description

Subscribed Topics

joy [sensor_msgs::Joy]
    topic from joy node
    
robot_status [rc110_msgs::Status]
    Status of baseboard, drive and steering motors

mux_drive/selected [std_msgs::String]
    selected drive topic (AD / Manual)

Parameters

~/rc (string, default: zmp)
    fixed robot name (if any)
    
~/frame_id (string, default: joy)
    output frame id

~/gears (double[], default: [0.3, 0.6, 1.0])
    gears speed (m/s)
    Please, be careful with high speed!

~/rate (double, default: 30.0)
    output update rate

~/joy_path (string, default: "")
    path of the device (used for joystick autodetection)

~/joy_type (string, default: "")
    joystick type (available types can be found in config/)