| Note: This tutorial assumes that you have completed the previous tutorials: Keyboard Teleop. |
 Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. |
Joystick Teleop
Description: Joystick teleoperation of a turtlebot.Keywords: joystick teleop
Tutorial Level: BEGINNER
Next Tutorial: Interactive Markers Teleop
Joystick
Several joystick configurations are supported - currently playstation3, xbox360 and logitech's rumblepad2. These example nodes are simple and depending on your joystick you may just need to remap the keys.
Setting up the Joystick
For the most part, this tutorial assumes you have already got your joystick plugged in and its ready to go. Some more detailed information for specific joysticks:
On the TurtleBot
Now ssh (ssh help) into the TurtleBot and start the joystick and teleop nodes
To ssh in to a TurtleBot from a workstation computer:
determine the IP_OF_TURTLEBOT by using ifconfig (Need more help)
To determine a computer's IP address and network interface in linux:
ifconfig
You will see something like:
lo Link encap:Local Loopback inet addr:127.0.0.1 Mask:255.0.0.0 inet6 addr: ::1/128 Scope:Host UP LOOPBACK RUNNING MTU:16436 Metric:1 RX packets:6658055 errors:0 dropped:0 overruns:0 frame:0 TX packets:6658055 errors:0 dropped:0 overruns:0 carrier:0 collisions:0 txqueuelen:0 RX bytes:587372914 (587.3 MB) TX bytes:587372914 (587.3 MB) wlan1 Link encap:Ethernet HWaddr 48:5d:60:75:58:90 inet addr:10.0.129.17 Bcast:10.0.129.255 Mask:255.255.254.0 inet6 addr: fe80::4a5d:60ff:fe75:5890/64 Scope:Link UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1 RX packets:101983 errors:0 dropped:0 overruns:0 frame:0 TX packets:37244 errors:0 dropped:0 overruns:0 carrier:0 collisions:0 txqueuelen:1000 RX bytes:49326141 (49.3 MB) TX bytes:7588044 (7.5 MB)the network interface for the wireless card is wlan1
the IP address of the computer is 10.0.129.17
use ssh to connect to the TurtleBot
ssh turtlebot@IP_OF_TURTLEBOT
# Playstation 3 > roslaunch turtlebot_teleop ps3_teleop.launch # Logitech joysticks (general configuration for all logitech joysticks) > roslaunch turtlebot_teleop joystick_teleop.launch
What Next?
Interactive Markers Teleop or return to TurtleBot main page.
