Controlling the robot - NTheuws/linorobot2_software GitHub Wiki

To control the robot there are also 2 options available:

1. Keyboard
2. Controller

Run teleop_twist_keyboard to control the robot using your keyboard:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Press:

• i - To drive the robot forward.
• , - To reverse the robot.
• j - To rotate the robot CCW.
• l - To rotate the robot CW.
• shift + j - To strafe the robot to the left (for mecanum robots).
• shift + l - To strafe the robot to the right (for mecanum robots).
• u / o / m / . - Used for turning the robot, combining linear velocity x and angular velocity z.

Pass joy argument to the launch file and set it to true to enable the joystick. For example:

ros2 launch linorobot2_bringup bringup.launch.py joy:=true

• On F710 Gamepad, the top switch should be set to 'X' and the 'MODE' LED should be off.

Press Button/Move Joystick:

• RB (First top right button) - Press and hold this button while moving the joysticks to enable control.
• Left Joystick Up/Down - To drive the robot forward/reverse.
• Left Joystick Left/Right - To strafe the robot to the left/right.
• Right Joystick Left/Right - To rotate the robot CW/CCW.

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