Difference between revisions of "Turtlebot3 Waffle Joule ROS 1 Kinetic"
From wikidb
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=== reference === | === reference === | ||
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=== Joystick install and test === | === Joystick install and test === | ||
Revision as of 18:06, 9 February 2018
Contents
References
Setup
Bringup
sudo apt-get install openssh-server - required for Fetch and ssh on Mac
bringup remote
roslaunch trutlebot3_bringup turtlebot3_remote.launch on dell
turtlebot3_lidar.lauch on turtlebot
rosrun rviz .... on dell
roslaunch turtlebot3_teleop turtlebote_teleop_key.launch on dell
teleop ran but didn't work
uptime ... 2.60, 2.59, 2.10
Keyboard Teleop
Success
remote
roscore roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
turtlebot
roslaunch turtlebot3_bringup turtlebot3_core.launch
Joystick Teleop
reference
Joystick install and test
in VirtualBox for Dual Action ... under devices USM - checked it while it was plugged in.
it became /dev/input/js2 - tested by plugging in and out
now
lsusb Bus 001 Device 004: ID 046d:c216 Logitech, Inc. Dual Action Gamepad Bus 001 Device 002: ID 80ee:0021 VirtualBox USB Tablet Bus 001 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
this is now working
jstest /dev/input/js2 Driver version is 2.1.0. Joystick (Logitech Logitech Dual Action) has 6 axes (X, Y, Z, Rz, Hat0X, Hat0Y) and 12 buttons (Trigger, ThumbBtn, ThumbBtn2, TopBtn, TopBtn2, PinkieBtn, BaseBtn, BaseBtn2, BaseBtn3, BaseBtn4, BaseBtn5, BaseBtn6). Testing ... (interrupt to exit) Axes: 0: 0 1: 0 2: 0 3: 0 4: 0 5: 0 Buttons: 0:ofAxes: 0: 0 1: 0
ll /dev/input/js2 crw-rw-r--+ 1 root input 13, 2 Feb 9 16:45 /dev/input/js2 sudo chmod 666 /dev/input/js2 ll /dev/input/js2 crw-rw-rw-+ 1 root input 13, 2 Feb 9 16:45 /dev/input/js2
test
Terminal 1
rosparam set joy_node/dev "/dev/input/js2" rosrun joy joy_node
Termina 2
rostopic echo joy
run
remote
sudo apt-get install xboxdrv ros-kinetic-joy ros-kinetic-joystick-drivers ros-kinetic-teleop-twist-joy roslaunch teleop_twist_joy teleop.launch
