rosbot-xl-teleop-snap

The rosbot-xl teleop snap allows for teleoperating the robot from either the keyboard, a gamepad or leave it to the navigation stack.

Installation

Install the snap as follows,

snap install rosbot-xl-teleop

Setup

Upon installation, depending on your operating system, you may have to manually connect the snap interface. You can verify that with the following command,

$ snap connections rosbot-xl-teleop
Interface            Plug                               Slot                            Notes
content[ros-humble]  rosbot-xl-teleop:ros-humble        ros-humble-ros-base:ros-humble  manual
hardware-observe     rosbot-xl-teleop:hardware-observe  -                               -
joystick             rosbot-xl-teleop:joystick          -                               -
network              rosbot-xl-teleop:network           :network                        -
network-bind         rosbot-xl-teleop:network-bind      :network-bind                   -

The interface ros-humble must be connected.

If it isn't, you can issue the following command,

snap connect rosbot-xl-teleop:ros-humble ros-humble-ros-base

Similarly the interfaces hardware-observe and joystick can be respectively connected with,

snap connect rosbot-xl-teleop:hardware-observe
snap connect rosbot-xl-teleop:joystick

Use

Joy

The snap offers the possibility to teleoperate the robot from a joystick,

rosbot-xl-teleop.joy

This app launches both the gamepad driver as well as the joy teleop node. The default configuration is that of a Logitech F710 with:

• top left trigger for enablement
• left joystick for for/backward
• right joystick for rotation

The joy teleop node's configuration file can be found at $SNAP_COMMON/config/joy_teleop.config.yaml and can thus be edited. Shall you want to reinitialise it, you can simply issue the command rosbot-xl-teleop.reset-config.

Key

The robot can also be teleoperated from a keyboard (e.g. through SSH) with,

rosbot-xl-teleop.key

Mux

The snap makes use of a topic multiplexer to switch from one source to another. Its input topic can be selected as,

rosbot-xl-teleop.mux-select <topic>

Note that when launching the joy or key app, the appropriate topic is automatically selected.

Note This snap is part of an integrated snaps deployment.

Other recommended snaps to be installed are,

• micro-xrce-dds-agent
• sllidar-ros2
• rosbot-xl-teleop
• rosbot-xl-nav