Tutorial: Robot Teleop¶
Using the Robot Joystick¶
Each Fetch and Freight ship with a robot joystick. Whenever the robot drivers are running, so is joystick teleop. The joystick is capable of controlling the movement of the robot base, torso, head and gripper.
|Button #||Function (details below)|
|1||Control robot turning|
|2||Control forward/backward driving|
|4||Disable motor position holding|
|8||Head control deadman|
|9||Linear arm (“tooltip”) control|
|11||Angular arm (“tooltip”) control|
|16||Pair/unpair with robot|
To pair the controller with the robot, press the middle button (16) once the robot has powered on. The controller will vibrate once successful. To unpair, hold the button for 10 s. The LED indicator on top will turn off.
To drive the robot base, hold the primary deadman button (button 10 above) and use the two joysticks. The left joystick controls turning velocity while the right joystick controls forward velocity.
Whenever driving the robot, always lower the torso and tuck the arm to avoid potentially unstable operation.
To control the head, release the primary deadman and hold the head deadman (button 8). The left joystick now controls head pan while the right joystick controls head tilt.
To move the torso up, hold the primary deadman and press the triangle button (12). To move the torso down, hold the primary deadman and press the X (14).
To close the gripper, hold the primary deadman and press the close button (3). To open, hold the primary deadman and press the open button (0).
The Fetch arm/gripper can be teleoped by combining several inputs:
- Linear motion of the end effector: Primary deadman + Button 9 + joystick input
- Angular motion of the end effector: Primary deadman + Button 11 + joystick input
Some controllers, such as the arm and head controllers, will attempt to hold position indefinitely. Sometimes this is not desired. Holding button (4) for 1 second will stop all controllers except the base controller and the arm gravity compensation.
Moving the Base with your Keyboard¶
You will need a computer with ROS installed to properly communicate with the robot. Please consult the ROS Wiki for more information. We strongly suggest an Ubuntu machine with ROS Melodic installed.
To teleoperate the robot base in simulation, we recommend
teleop_twist_keyboard.py script from
>$ export ROS_MASTER_URI=http://<robot_name_or_ip>:11311 >$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
In addition to the runstop button on the side of the robot, similar software functionality is also available, allowing for button presses on the PS3 controller or a program to disable the breakers. This functionality is available in release 0.7.3 of the fetch_bringup package. The teleop portion is disabled by default.
Using Software Runstop¶
To activate the software runstop, publish True to the /enable_software_runstop topic.
Alternately, with the teleop runstop enabled, pressing both of the right trigger buttons (buttons 9 and 11) will activate the software runstop. The software_runstop.py script in fetch_bringup can be modified to change the button(s) for the software runstop.
Once activated, the software runstop can be deactivated by (1) toggling the hardware runstop, or (2) disabling the software runstop by passing False to the /enable_software_runstop topic.
Enable Teleop Software Runstop¶
In order to edit the robot.launch file, you will
need to use a terminal editor (such as nano or vim), or use the -X flag
with SSH to use a graphical editor (such as gedit). Additionally, the editor
must be launched with
sudo. Instructions below use nano.
To enable the software runstop, first SSH into the robot, and then modify the robot drivers launch file to use it.
We need to modify the robot.launch file to pass the correct arg to the software runstop script:
>$ sudo nano /etc/ros/melodic/robot.launch
In this file there should be a Software Runstop entry near the end. By default this entry contains an args line, with a value of “-a -b -g”. To add teleop control, add the “-t” flag as well. This section will then look like the below. If your robot is an older one and does not have a Software Runstop entry, you will want to simply copy the block the below.
<!-- Software Runstop --> <include file="$(find fetch_bringup)/launch/include/runstop.launch.xml"> <arg name="flags" value="-a -b -g -t" /> </include>
Note that the -a, -b, -g flags correspond to letting the software runstop control the arm, base and gripper breakers, respectively.
Additionally, if completely disabling the software runstop functionality is desired, the above section in robot.launch can be commented out or removed.
Finally, restart the drivers so that our changes take effect:
>$ sudo service robot stop && sudo service robot start
Re-pairing Robot Joystick that Won’t Connect¶
If the Bluetooth robot joystick is a PS3 controller and will no longer connect to the robot, it can easily be re-paired to the robot by connecting it to the robot with a USB cable, and then running:
# 14.04 with PS3 controller >$ sudo sixpair # 18.04 with PS3 controller; Note: the controller LEDs will continually flash even when connected >$ sudo /opt/ros/melodic/lib/ps3joy/sixpair
This situation is most often caused by charging the robot joystick from the USB port of another computer.
Using Deadzone Parameter to Correct Drift¶
Some controllers may have poorly-zeroed joysticks, meaning that they send a nonzero value when the joystick is untouched and ought to send a zero value. This will be apparent if you press the deadman button on the controller, and the robot slowly moves without any input to the joysticks.
This behavior can be compensated for by using a rosparameter: joy/deadzone (ROS docs), which defines the amount by which the joystick has to move before it is considered to be off-center, specified relative to an axis normalized between -1 and 1.
Add/set the parameter in
<!-- Teleop --> <include file="$(find fetch_bringup)/launch/include/teleop.launch.xml"/> <param name="joy/deadzone" value="0.1"/>
You can inspect the output of
rostopic echo /joy with the controller
connected to choose an appropriate value for your controller.
To test a value after making the above change, with the arm safely resting so that it won’t fall, restart roscore.:
sudo service roscore restart