AgileX Scout Mini

To get started, connect both the Nvidia Xavier and a remote laptop to the same wifi router that has a strong stable signal, e.g. RAICo. Avoid using the mini-router because the signal is very weak.

Demo1 - Teleportation using Joystick

This demo will show how to control the robot using a joystick.

Do the following steps on the Connected Laptop:

First, install teleop_twist_joy

$ sudo apt-get install ros-<distro-name>-teleop-twist-joy

You can use Teleop Twist Joy link to install from the source.

Make sure an appropriate configuration file exists for DS4:

$ cd /opt/ros/noetic/share/teleop_twist_joy/config/
$ sudo cp ps3.config.yaml ps4.config.yaml
$ sudo vi ps4.config.yaml

make sure it all looks like this (the last 2 lines change content):

axis_linear: 1
scale_linear: 0.7
scale_linear_turbo: 1.5

axis_angular: 0
scale_angular: 0.4

enable_button: 6        # L2 shoulder button
enable_turbo_button: 4  # L1 shoulder button

Note

Make sure ROS_IP and ROS_MASTER_URI are set correctly on ~/.bashrc.

Todo

Add a section on how to set ROS_IP and ROS_MASTER_URI

Then launch

$ roslaunch teleop_twist_joy teleop.launch joy_dev:=/dev/input/js1 joy_config:=ps4 scale_linear:=.1 (scale_angular:=1)

Note

To operate the robot, you will need to press and hold L1 button, while simultaneously moving the left joystick forward-backwards and/or left-right.

Now, do the following steps on the Scout Mini:

check the content of ROS_IP and ROS_MASTER_URI in .bashrc, then open a terminal:

$ sudo ip link set can0 up type can bitrate 500000
$ roslaunch scout_bringup scout_mini_robot_base.launch

Now, you should be able to control the robot using the joystick.

Demo2 - Teleportation using Keyboard

This demo will show how to control the robot using a keyboard.

Do the following steps on the Scout Mini:

Comment the content of ROS_IP and ROS_MASTER_URI in .bashrc, then open a terminal1:

$ sudo ip link set can0 up type can bitrate 500000
$ roslaunch scout_bringup scout_mini_robot_base.launch

Open a new terminal:

$ roslaunch scout_bringup scout_mini_teleop_keyboard.launch

Now, you should be able to control the robot using the keyboard.