158 lines
4.5 KiB
Markdown
158 lines
4.5 KiB
Markdown
# Teleop
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Container for manually driving the robot via keyboard or joystick.
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Both modes publish `TwistStamped` on `/cmd_vel` as required by the mecanum drive controller.
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The container is not started by the default `docker compose up` — it must be launched explicitly with `docker compose run`.
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## Prerequisites
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Build the image once before first use:
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```bash
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docker compose build teleop
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```
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## Keyboard
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```bash
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docker compose run --rm teleop teleop-keyboard
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```
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Use the standard `teleop_twist_keyboard` bindings (`i`, `,`, `j`, `l`, etc.) to drive.
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Press `k` to stop.
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## Joystick
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```bash
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docker compose run --rm teleop teleop-joystick
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```
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The script starts `joy_node` and `teleop_twist_joy_node` together; both are stopped
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when you press Ctrl+C.
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The controller layout defaults to `ps5`. Override `JOY_CONFIG` with any config name
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from the `teleop_twist_joy` package (e.g. `ps4`, `xbox`, `atk3`):
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```bash
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JOY_CONFIG=xbox docker compose run --rm teleop teleop-joystick
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```
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To list all available configs:
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```bash
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docker compose run --rm teleop bash -c \
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"ls \$(ros2 pkg prefix teleop_twist_joy)/share/teleop_twist_joy/config/"
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```
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The container expects the joystick at `/dev/input/js0`.
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If your device is at a different path, set `JOYSTICK_DEV` before running:
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```bash
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JOYSTICK_DEV=/dev/input/js1 docker compose run --rm teleop teleop-joystick
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```
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## Running from a remote machine
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The container includes a FastDDS profile that restricts DDS discovery and traffic
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to a single network interface, preventing traffic leaking onto unintended interfaces
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(e.g. a wired link alongside the robot's Wi-Fi).
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The interface defaults to `wlan0`. Override it with the `FASTDDS_INTERFACE` variable:
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```bash
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FASTDDS_INTERFACE=wlan1 docker compose run --rm teleop teleop-keyboard
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```
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Or set it permanently in your `.env` file:
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```
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FASTDDS_INTERFACE=wlan0
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```
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The robot containers do not currently apply this FastDDS profile, so both ends must
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be reachable on the configured interface for DDS discovery to succeed. Ensure the
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`ROS_DOMAIN_ID` matches on all machines.
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## Useful commands
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### Working out the network interface to bind to
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TODO: show how to find the correct network interface to bind FastDDS to...
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TODO: Create a script to do this?
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Look at the output of `ip addr`, and see which interface is on the sane network as the robot.
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For example, this output
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```bash
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___snip___
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3: wlp195s0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc noqueue state UP group default qlen 1000
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link/ether 84:9e:56:9c:a1:b5 brd ff:ff:ff:ff:ff:ff
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inet 192.168.1.207/24 brd 192.168.1.255 scope global dynamic noprefixroute wlp195s0
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valid_lft 79183sec preferred_lft 79183sec
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inet6 fe80::32f4:b953:b7ca:e415/64 scope link noprefixroute
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valid_lft forever preferred_lft forever
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___snip___
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```
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shows that interface wlp195s0 is on the same network as my robot at ip address 192.168.1.166/24.
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You should therefore set `FASTDDS_INTERFACE=wlp195s0`.
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### Working out the correct devices to pass through
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I am assuming you have a PS DualSense controller, because this is what I used to test.
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```bash
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cat /proc/bus/input/devices | grep -A 8 "DualSense"
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N: Name="Sony Interactive Entertainment DualSense Wireless Controller"
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P: Phys=
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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
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U: Uniq=a0:ab:51:b5:7e:fb
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H: Handlers=event3 js0
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B: PROP=0
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B: EV=20000b
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B: KEY=7fdb000000000000 0 0 0 0
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B: ABS=3003f
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--
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N: Name="Sony Interactive Entertainment DualSense Wireless Controller Motion Sensors"
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P: Phys=
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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
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U: Uniq=a0:ab:51:b5:7e:fb
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H: Handlers=event5 js1
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B: PROP=40
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B: EV=19
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B: ABS=3f
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B: MSC=20
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--
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N: Name="Sony Interactive Entertainment DualSense Wireless Controller Touchpad"
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P: Phys=
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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
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U: Uniq=a0:ab:51:b5:7e:fb
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H: Handlers=mouse0 event6
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B: PROP=5
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B: EV=b
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B: KEY=2420 10000 0 0 0 0
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B: ABS=260800000000003
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```
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This shows me that the primary control input is on `js0` and `event3`. So I would need to launch the container like this:
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```bash
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# Note that /dev/input/js0 is already mapped by default
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JOYSTICK_EVENT_DEV=/dev/input/event3 docker compose run --rm teleop teleop-joystick
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```
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### Test the joystick is bound in the container
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Install the jstest package
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```bash
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# In the container
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apt update
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apt-get install joystick
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# Inside the container, the joystick is always mapped to js0
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jstest /dev/input/js0
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``` |