# Teleop

Container for manually driving the robot via keyboard or joystick.
Both modes publish `TwistStamped` on `/cmd_vel` as required by the mecanum drive controller.

The container is not started by the default `docker compose up` — it must be launched explicitly with `docker compose run`.

## Prerequisites

Build the image once before first use:

```bash
docker compose build teleop
```

## Keyboard

```bash
docker compose run --rm teleop teleop-keyboard
```

Use the standard `teleop_twist_keyboard` bindings (`i`, `,`, `j`, `l`, etc.) to drive.
Press `k` to stop.

## Joystick

```bash
docker compose run --rm teleop teleop-joystick
```

The script starts `joy_node` and `teleop_twist_joy_node` together; both are stopped
when you press Ctrl+C.

The controller layout defaults to `ps5`. Override `JOY_CONFIG` with any config name
from the `teleop_twist_joy` package (e.g. `ps4`, `xbox`, `atk3`):

```bash
JOY_CONFIG=xbox docker compose run --rm teleop teleop-joystick
```

To list all available configs:

```bash
docker compose run --rm teleop bash -c \
  "ls \$(ros2 pkg prefix teleop_twist_joy)/share/teleop_twist_joy/config/"
```

The container expects the joystick at `/dev/input/js0`.
If your device is at a different path, set `JOYSTICK_DEV` before running:

```bash
JOYSTICK_DEV=/dev/input/js1 docker compose run --rm teleop teleop-joystick
```

## Running from a remote machine

The container includes a FastDDS profile that restricts DDS discovery and traffic
to a single network interface, preventing traffic leaking onto unintended interfaces
(e.g. a wired link alongside the robot's Wi-Fi).

The interface defaults to `wlan0`. Override it with the `FASTDDS_INTERFACE` variable:

```bash
FASTDDS_INTERFACE=wlan1 docker compose run --rm teleop teleop-keyboard
```

Or set it permanently in your `.env` file:

```
FASTDDS_INTERFACE=wlan0
```

The robot containers do not currently apply this FastDDS profile, so both ends must
be reachable on the configured interface for DDS discovery to succeed. Ensure the
`ROS_DOMAIN_ID` matches on all machines.


## Useful commands

### Working out the network interface to bind to

TODO: show how to find the correct network interface to bind FastDDS to...
TODO: Create a script to do this?

Look at the output of `ip addr`, and see which interface is on the sane network as the robot.

For example, this output

```bash
___snip___
3: wlp195s0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc noqueue state UP group default qlen 1000
    link/ether 84:9e:56:9c:a1:b5 brd ff:ff:ff:ff:ff:ff
    inet 192.168.1.207/24 brd 192.168.1.255 scope global dynamic noprefixroute wlp195s0
       valid_lft 79183sec preferred_lft 79183sec
    inet6 fe80::32f4:b953:b7ca:e415/64 scope link noprefixroute
       valid_lft forever preferred_lft forever
___snip___
```
shows that interface wlp195s0 is on the same network as my robot at ip address 192.168.1.166/24.

You should therefore set `FASTDDS_INTERFACE=wlp195s0`.

### Working out the correct devices to pass through

I am assuming you have a PS DualSense controller, because this is what I used to test.

```bash
cat /proc/bus/input/devices | grep -A 8 "DualSense"
N: Name="Sony Interactive Entertainment DualSense Wireless Controller"
P: Phys=
S: Sysfs=/devices/pci0000:00/0000:00:08.3/0000:c7:00.0/usb3/3-1/3-1:1.3/0003:054C:0CE6.0001/input/input3
U: Uniq=a0:ab:51:b5:7e:fb
H: Handlers=event3 js0
B: PROP=0
B: EV=20000b
B: KEY=7fdb000000000000 0 0 0 0
B: ABS=3003f
--
N: Name="Sony Interactive Entertainment DualSense Wireless Controller Motion Sensors"
P: Phys=
S: Sysfs=/devices/pci0000:00/0000:00:08.3/0000:c7:00.0/usb3/3-1/3-1:1.3/0003:054C:0CE6.0001/input/input5
U: Uniq=a0:ab:51:b5:7e:fb
H: Handlers=event5 js1
B: PROP=40
B: EV=19
B: ABS=3f
B: MSC=20
--
N: Name="Sony Interactive Entertainment DualSense Wireless Controller Touchpad"
P: Phys=
S: Sysfs=/devices/pci0000:00/0000:00:08.3/0000:c7:00.0/usb3/3-1/3-1:1.3/0003:054C:0CE6.0001/input/input6
U: Uniq=a0:ab:51:b5:7e:fb
H: Handlers=mouse0 event6
B: PROP=5
B: EV=b
B: KEY=2420 10000 0 0 0 0
B: ABS=260800000000003
```

This shows me that the primary control input is on `js0` and `event3`.  So I would need to launch the container like this:

```bash
# Note that /dev/input/js0 is already mapped by default
JOYSTICK_EVENT_DEV=/dev/input/event3 docker compose run --rm teleop teleop-joystick
```

### Test the joystick is bound in the container

Install the jstest package

```bash
# In the container
apt update
apt-get install joystick
# Inside the container, the joystick is always mapped to js0
jstest /dev/input/js0

```