Teleoperation

Web GUI Teleop

In the ARI web GUI (http://ari or http://192.168.128.28) you can find a joystick button under the tabs 'Command Desks' and 'Navigation' in the bottom left corner of the screen. Clicking one of these brings up a joystick that you can use to drive ARI around. This joystick does not work if ARI is thinks it is docked (connected to the charger). You can undock ARI by clicking the button with a battery symbol under the tabs 'Navigation' (top left) and 'Teleoperation' (top right).

Controller/Joystick Teleop

ARI does not come prepackaged with good controller/joystick teleop capabilities. It comes with the joy_teleop package preinstalled, but there is no launch file or config that plays nice with ARI out of the box, and it is not started automatically on startup. We have deployed and use teleop_twist_joy instead. It is launched on ARI startup, so once ARI is on, nothing else should be required for the controller to work. The custom config and launch files are saved on this repo in the teleop folder.

There is a Logitech controller in the lab (labeled Pep_0) that should be connected to ARI. While keeping the LB button pressed you can control rotation with the left joystick and speed with the right. Make sure the little toggle on the back of the controller is set to D and not X, or the controls will be funky.