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Gamepad#

Your robot might come with a Bluetooth gamepad. It allows you to perform simple teleoperation such as moving the mobile base, moving the head and the torso.

Note

A gamepad is included with the TIAGo base, TIAGo and TIAGo Pro robot packages. For other robots, you can use your own controller. Any Bluetooth game controller compatible with the ROS package joy should work.

Controls#

Note

Before moving the robot, press START in order to give command

priority to the gamepad.

This section gives you key mappings of the controller and their actions

Torso up Torso down Modifier key(BACK) Enable gamepad(START) Safety button (RB) Head left Increase angular velocity Head up Increase linear velocity Head right Decrease angular velocity Head down Decrease linear velocity Rotate base Move base

(coloured commands indicate that you have to press 2 keys at a time in order to perform the action.)

Instruction

Gamepad keys

Move

RB + Left Joystick (toggle navigation with START)

Rotate

RB + Right Joystick (toggle navigation with START)

Move Head (up, right, down, left)

Y, B, A, X

Modify linear velocity (increase , decrease)

BACK+Y, BACK+A

Modify angular velocity (increase , decrease)

BACK+X, BACK+B

Reset settings

stick-press Press Right Joystick or Left Joystick

See also#