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Bring up the robot

As with all applications, you must first bring up your robot.

Joystick Configuration

The package currently supports two interfaces: a Sony PS3 "Sixaxis" Controller, and a 3Dconnexion "Spacenav" device.

To configure a Sixaxis device, follow the steps in ps3joy to pair it with your computer.

To configure a Spacenav device, follow the instructions in spacenav_node

Launching

There are two launch files: one which should be run on the robot, and one which should be run locally.

On the robot:

roslaunch pr2_remote_teleop launch_on_robot.launch

On a local computer:

roslaunch pr2_remote_teleop sixaxis_teleop.launch
*** or ***
roslaunch pr2_remote_teleop spacenav_teleop.launch

Controlling

Selecting camera views and robot controllers

To select a camera view (the affects which frame is used when controller the arms):

Select + Triangle

View the wide-angle head camera

Select + X

View the narrow-angle head camera

Select + Square

View the left forearm camera

Select + Circle

View the right forearm camera

To start controlling a part of the robot:

Start + Pad-Up

Start the head controller

Start + Pad-Down

Start the base and torso controller

Start + Pad-Left

Start the left arm controller

Start + Pad-Right

Start the right arm controller

Head Controller

With the head controller active, the controls are as follows:

Left Joystick

Pan the head left and right

Right Joystick

Tilt head forward and backward

Square

Have the head look at and follow the left gripper position

Circle

Have the head look at and follow the right gripper position

Triangle

Center the head

X

Toggle the red texture projector on/off

Base Controller

With the base controller active, the controls are as follows: ||L1|| "Deadman switch," you must hold this down to issue any commands to the base.

Left Joystick

Translate the robot forward-backward, left-right

Right Joystick

Change the robot's orientation left-right

Triangle

Move the torso up

X

Move the torso down

Arm Controller

The arms are controlled using a cartesian controller to command position and orientation of the gripper, specifically, the gripper finger tips. It is useful to understand the frames used to control the gripper:

With the (left or right) arm controller active, the controls are as follows:

Left Joystick

Moves the gripper forward-backward, left-right in the plane parallel to the ground.

L1, L2

Moves the gripper up (L1) and down (L2) vertically.

Right Joystick

Pivots the gripper about the finger tips. Up-down control the pitch, and left-right control the yaw (or heading).

R1, R2

Rolls the gripper wrist clockwise (R2) and counter-clockwise (R1).

Circle

Opens the gripper while the button is held.

Square

Closes the gripper while the button is held.

Unpairing the Joystick

The joystick should unpair from the PR2 automatically after 15 minutes of inactivity, to save battery life. If you ever need to unpair the joystick explicitly, simply press the pairing button for 10 seconds, after which the joystick lights should stop blinking.

Keyboard teleoperation

Under construction


2020-08-01 12:27