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Test the robot upstart service

s1

The default user password is Welcome00

segstop

segstart

 segchk

exit

Test Visualization

cd ~/segway_remote_ws
sws
roslaunch segway_viz view_robot.launch

Source Your Workspace

It is important to note that any time you open a new terminal, before running anything in ROS, you must browse to the appropriate workspace and source it. We have set up the alias "sws" for this purpose.

Reconfiguration GUI

sws
rosrun rqt_reconfigure rqt_reconfigure

/segway_ws/src/segway_v3_robot/segway_bringup/launch/platform/config/RMP_220/segway_params.yaml

rqt

sws
rqt

Joystick setup

First make sure the switch in the top/back of your Logitech F710 or F310 controller is set to X, not D. Connect the controller to the remote computer. Install this lightweight joystick tester and run it.

sudo apt-get install jstest-gtk
jstest-gtk

You should get a pop-up window with your joystick information. Go ahead and double click on the correct one to open a window that gives feedback for all buttons and axes. Move the joysticks and press the buttons and verify that it works. Write down the /dev/input/jsX number.

Drive the system around

Making sure that js0 is replaced the the appropriate number as noted previously, enter:

sws
roslaunch segway_remote_teleop segway_remote_teleop.launch dev:=/dev/input/js0

Enjoy your newly configured remote PC with your RMP V3 by Stanley Innovation!


2020-08-08 12:24