Will's Teleop Notes

Set up your shell variables. Lines beginning with 'D:' are commands for the desktop, lines beginning with 'R:' are commands for the robot.

• D: roscore
• check ROS_MASTER_URI on the robot
• D: rxgraph (note: only updates when you mouse over something on the graph)
• D: rosrun p2os_dashboard p2os_dashboard
• R: rosrun p2os_driver p2os
• note battery level indicator.
• note gear is red - robot will not run (this is a good thing)
• D: rosrun joy joy_node
• D: rostopic echo /joy
• Play with joystick.

• Note which button is which and which axis is which.

• rosparam set /run_button 0

• rosparam set /deadman_button 0
• rosparam set /axis_vx 1
• rosparam set /axis_vw 0
• rosparam set /axis_vy 3
• rosparam set /max_vw_run 3

The following commands are options:

• rosparam set /max_vx_run 1
• rosparam set /max_vx 0.8
• rosparam set /max_vw 2

Now start the translator from joystick to robot velocity commands:

• rosrun p2os_teleop p2os_teleop
• rostopic echo /cmd_vel

At this stage we're going to start actually moving the robot. It is important that you don't drag anything behind the robot. Disconnect all cables.

• Now unplug the robot
• note the battery level drops in the p2os dashboard - batteries are old.

• click on gear an enable the robot.

• Now you should be able to drive the robot with the joystick

Now we'll look into those motion commands:

• Kill teleop
• rostopic pub -1 /cmd_vel geometry_msgs/Twist -- '[0.3, 0.0, 0.0]' '[0.0, 0.0, 0.5]'

Now we'll turn the robot back off:

• click on the gear to disable the robot
• reconnect the power to the robot

Thanks to the ROS wiki p2os docs.