Note: This tutorial assumes that you have completed the previous tutorials: Keyboard Teleop.
(!) Please ask about problems and questions regarding this tutorial on 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


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:  Mask:
                  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:  Bcast:  Mask:
                  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

    • 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?

Wiki: turtlebot_teleop/Tutorials/pre_groovy/Joystick Teleop (last edited 2013-09-11 09:00:38 by jihoonl)