About | Support | answers.ros.org	Search:

Teleoperate a Turtlebot with the PS3 Joystick

Description: Teleoperate a Turtlebot with the PS3 Joystick

Tutorial Level: BEGINNER

Next Tutorial: Calibrate Odometry and Gyro

Overview

In order to teleop the turtlebot with a PS3 joystick, you will need a PS3 joystick, a USB bluetooth receiver and a USB A to micro B cable. The first step is to pair the joystick with the receiver. Once the joystick is paired, you can launch the teleop launch file. Unless you pair the joystick with another device, it should remain paired.

Pairing

1. Remove the laptop from the turtlebot and unplug the USB cables.
2. Plug the USB bluetooth receiver into the lone USB port of the laptop.
3. Plug the USB A to micro B cable into the laptop and the joystick.
4. Open the laptop and open the terminal
5. Type the following:

    roscd ps3joy/bin
    sudo ./sixpair

6. Type your password (the default is "turtlebot"), and you should see:

    Current Bluetooth master: 00:22:b0:d0:5a:09
    Setting master bd_addr to 00:22:b0:d0:5a:09

7. If you see this, you have successfully paired the turtlebot joystick, and are ready to move on. If you see something else, perhaps like this:

    Current Bluetooth master: 00:1b:dc:00:07:3c
    Unable to retrieve local bd_addr from `hcitool dev`.
    Please enable Bluetooth or specify an address manually.

   Then run the following and go back to step 5:

    sudo hciconfig hci0 reset

8. Now that the joystick is paired, unplug the USB cable from both the laptop and the joystick.
9. Replace the laptop on the turtlebot and reconnect the kinect and the create.

Operation

1. Using SSH, open a console on the turtlebot.
2. Run the command:

   •     roslaunch turtlebot_teleop ps3_teleop.launch 

3. The robot is now ready to teleop. Press a button to wake up the joystick and depress L1. While depressing L1, move the left analog joystick to control the robot.