RoboSub- Remote Control

• See Teleoperation

Test joystick in simulation

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• Launch Gazebo

ros2 launch pontus_bringup odom_simulation.launch.py

• Open another interactive terminal session in the running container

docker exec -it nekton /bin/bash

• run remote control node

ros2 launch pontus_controller rc.launch.py auv:=sim

• To use teleop_twist_keyboard instead:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Teleop_twist_keyboard Mappings

• Directional Movement:

  • u / U: Move diagonally forward-left
  • i / I: Move forward
  • o / O: Move diagonally forward-right
  • j / J: Move left (strafe left if shift key is held)
  • k / K: Stop movement
  • l / L: Move right (strafe right if shift key is held)
  • m / M: Move diagonally backward-left
  • , / <: Move backward
  • . / >: Move diagonally backward-right

• Vertical Movement:

  • t: Move up (+z)
  • b: Move down (-z)

• Speed Control:

  • q: Increase max speed by 10%
  • z: Decrease max speed by 10%
  • w: Increase only linear speed by 10%
  • x: Decrease only linear speed by 10%
  • e: Increase only angular speed by 10%
  • c: Decrease only angular speed by 10%

Behavior

• Default Speed Settings:

  • Linear speed: 0.5
  • Angular speed: 1.0

• Key Press Handling:

  • If any other key is pressed, the robot stops moving.
  • The control loop continues to listen for keypresses until CTRL-C is pressed to quit the program.