Robot Teleop Using a Gamepad#

Hardware Prerequisites

You have a robot and a gamepad.

This example uses a Logitech* F710 wireless gamepad and the UP Xtreme i11 Robotic Kit.

  1. Add ros-base-teleop to your robot’s yml file.

    EI for AMR contains a yml file with ros-base-teleop configured:

    cd $CONTAINER_BASE_PATH
gedit 01_docker_sdk_env/docker_compose/05_tutorials/aaeon_wandering__aaeon_realsense_collab_slam_fm_nav2_ukf.tutorial.yml

    Copy the lines for ros-base-teleop into your generic-robot yml file in the 05_tutorials directory:

    cd $CONTAINER_BASE_PATH
meld 01_docker_sdk_env/docker_compose/05_tutorials/aaeon_wandering__aaeon_realsense_collab_slam_fm_nav2_ukf.tutorial.yml 01_docker_sdk_env/docker_compose/05_tutorials/generic_robot_wandering__aaeon_realsense_collab_slam_fm_nav2.tutorial.yml up
# replace 01_docker_sdk_env/docker_compose/05_tutorials/generic_robot_wandering__aaeon_realsense_collab_slam_fm_nav2.tutorial.yml up with your yml file

  2. Check that EI for AMR environment is set:

    echo $AMR_TUTORIALS
# should output the path to EI for AMR tutorials
/home/user/edge_insights_for_amr/Edge_Insights_for_Autonomous_Mobile_Robots_2023.1/AMR_containers/01_docker_sdk_env/docker_compose/05_tutorials

    If nothing is output, refer to Get Started Guide for Robots Step 5 for information on how to configure the environment.

  3. Insert the USB dongle in the robot.

  4. Place the robot in an area with multiple objects in it.

  5. Change permissions on input devices:

    sudo chmod a+rw /dev/input/js0
sudo chmod a+rw /dev/input/event*

  6. Start mapping the area:

    cd $CONTAINER_BASE_PATH
docker compose -f 01_docker_sdk_env/docker_compose/05_tutorials/generic_robot_wandering__aaeon_realsense_collab_slam_fm_nav2_ukf.tutorial.yml up
# replace 01_docker_sdk_env/docker_compose/05_tutorials/generic_robot_wandering__aaeon_realsense_collab_slam_fm_nav2_ukf.tutorial.yml up with your yml file

    Expected result: The robot starts wandering around the room and mapping the entire area.

  7. After the robot starts to move, you can control it with the gamepad:

    • To control the robot, keep the top right button labeled 1 in the picture below pressed at all times.

    • To move the robot on the X and Y axes, enable the mode button, and use the buttons labeled 2 in the picture below.

    • To rotate the robot in place, use the joystick labeled 3 in the picture below.

    • To move the robot on the X and Y axis, disable the mode button, and use the joystick labeled 4 in the picture below.

    ../_images/gamepad_Logitech_F710.png