Joystick teleop - FontysAtWork/ESA-PROJ GitHub Wiki

At the moment we use a PS4 controller to drive the robot around. This ps4 controller is connected to the robot laptop via Bluetooth.

The src/fontys_at_work/faw/config/ps3.config.yaml file is used for reading the controller parameters, and the nodes youbot_joy_node and teleop_twist_joy translate controller output to cmd_vel commands. This controller is used during mapping and to move the robot directly.

Controls

The left stick controls the movement, with the forward speed in the Y-axis of the stick and the rotation with the X-axis of the stick. The right stick is reserved for controlling the arm, but this might be subject to change.

On the PS4 controller:

• △ moves the robot quickly. DO NOT use this mode while navigating or anything related to accurate movement.
• O moves the robot slowly. This speed is suitable for the sensors and the robot tracks its position.

The slow movement speed should always be used, unless navigating is not necessary. If the robot has been moved at high speed, the navigation stack needs to be restarted with the robot in its home position, for it to be able to accurately locate itself again.