Teleoperation with space mouse

The package needs to be deployed into the robot so it has the controller. More info at: https://github.com/roboticslab-uc3m/tiago_spnav_teleop

Setup

You need to clone that repo into your computer as well as: sudo apt install spacenavd ros-noetic-spacenav-node

There are problems due to the different gripper so you have to change the config file inside the robot tiago_spnav_teleop/config/spnav_controller.yaml. Change gripper_joint_names: to the joint present in the topic /joint_states. This should already be done inside the robot.

How to use:

Connect the space mouse to a laptop in the same network as the robot (make sure the terminal is connected to the robot roscore), and run the command:

roslaunch tiago_spnav_teleop spnav_mouse.launch

Inside the robot run:

roslaunch tiago_spnav_teleop tiago_real.launch

When you are finished to get the normal arm controllers back run:

rosrun tiago_spnav_teleop stop_spnav.py

Debug

If something goes wrong, the following commands might prove useful: rosparam load <path/to/config/spnav_controller.yaml> rosservice call /controller_manager/list_controllers ... rosservice call /controller_manager/load_controller ... rosservice call /controller_manager/switch_controllers ...