Developer Guide

  • 2022.3
  • 10/25/2022
  • Public Content
Contents

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 <edge_insights_for_amr_path>/Edge_Insights_for_Autonomous_Mobile_Robots_*/AMR_containers 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:
    cd <edge_insights_for_amr_path>/Edge_Insights_for_Autonomous_Mobile_Robots_*/AMR_containers 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. Insert the USB dongle in the robot.
  3. Place the robot in an area with multiple objects in it.
  4. Go to the installation folder of Edge_Insights_for_Autonomous_Mobile_Robots, and prepare the environment:
    cd <edge_insights_for_amr_path>Edge_Insights_for_Autonomous_Mobile_Robots_*/AMR_containers/ source ./01_docker_sdk_env/docker_compose/common/docker_compose.source export CONTAINER_BASE_PATH=`pwd` export ROS_DOMAIN_ID=27 sudo chmod a+rw /dev/input/js0 sudo chmod a+rw /dev/input/event*
  5. Start mapping the area:
    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.
  6. 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 axrs, disable the mode button, and use the joystick labeled 4 in the picture below.

Product and Performance Information

1

Performance varies by use, configuration and other factors. Learn more at www.Intel.com/PerformanceIndex.