pr2_remote_teleop

Contents

Video
Bring up the robot
Joystick Configuration
Launching
Controlling with a PS3 Joystick
Controlling with a Spacenav
Keyboard teleoperation

Please contact aleeper<at>stanford.edu with questions/feedback. If you find something unclear in the documentation, feel free to ask, or if you figure it out, contribute!

TODO: Most of this stuff should be moved into a tutorial...

Video

Bring up the robot

As with all applications, you must first bring up your robot.

Joystick Configuration

The package currently supports two interfaces: a Sony PS3 "Sixaxis" Controller, and a 3Dconnexion "Spacenav" device.

To configure a Sixaxis device, follow the steps in ps3joy to pair it with your computer.

To configure a Spacenav device, follow the instructions in spacenav_node

Launching

There are two launch files: one which should be run on the robot, and one which should be run locally.

On the robot:

roslaunch pr2_remote_teleop launch_on_robot.launch

On a local computer:

roslaunch pr2_remote_teleop sixaxis_teleop.launch
*** or ***
roslaunch pr2_remote_teleop spacenav_teleop.launch

Controlling with a PS3 Joystick

The pr2_remote_teleop package supports the ps3 sixaxis controller. The control scheme below is the default one; any of these controls can be easily modified by editing the config file in config/sixaxis.yaml.

NOTE that the "select" and "start" buttons act as a controller suppress, that is, to change between controllers or camera views, hold down start or select FIRST, then press the accompanying button selection, then release start/select.

Selecting camera views and robot controllers

To select the active a camera view (the affects which frame is used when controlling the arms):

Select + Triangle	View the wide-angle head camera
Select + X	View the narrow-angle head camera
Select + Square	View the left forearm camera
Select + Circle	View the right forearm camera

To start controlling a part of the robot:

Start + Pad-Up	Start the head controller
Start + Pad-Down	Start the base and torso controller
Start + Pad-Left	Start the left arm controller
Start + Pad-Right	Start the right arm controller

Head Controller

With the head controller active, the controls are as follows:

Left Joystick	Pan the head left and right
Right Joystick	Tilt head forward and backward
Square	Have the head look at and follow the left gripper position
Circle	Have the head look at and follow the right gripper position
Triangle	Center the head
X	Toggle the red texture projector on/off

Base Controller

With the base controller active, the controls are as follows: ||L1|| "Deadman switch," you must hold this down to issue any commands to the base.

Left Joystick	Translate the robot forward-backward, left-right
Right Joystick	Change the robot's orientation left-right
Triangle	Move the torso up
X	Move the torso down

Arm Controller

The arms are controlled using a cartesian controller to command position and orientation of the gripper, specifically, the gripper finger tips. It is useful to understand the frames used to control the gripper:

Translation is controlled in a frame parallel to the ground, but aligned so that "forward" aligns with the current camera view (but parallel to the ground).
Rotation is controlled in the gripper's local frame; roll, pitch, and yaw have the same local effect no matter the current position of the arm.

With the (left or right) arm controller active, the controls are as follows:

Left Joystick	Moves the gripper forward-backward, left-right in the plane parallel to the ground.
L1, L2	Moves the gripper up (L1) and down (L2) vertically.
Right Joystick	Pivots the gripper about the finger tips. Up-down control the pitch, and left-right control the yaw (or heading).
R1, R2	Rolls the gripper wrist clockwise (R2) and counter-clockwise (R1).
Circle	Opens the gripper while the button is held.
Square	Closes the gripper while the button is held.

Unpairing the Joystick

The joystick should unpair from the PR2 automatically after 15 minutes of inactivity, to save battery life. If you ever need to unpair the joystick explicitly, simply press the pairing button for 10 seconds, after which the joystick lights should stop blinking.

Controlling with a Spacenav

TODO	This will be generalized so that the keyboard keys can be re-assigned by the user.

The spacenav has 6 axes of proportional control, and two buttons. These are mapped to the various functions depending on the active control mode, which is selected using the keyboard according to the table below.

General
h	Prints help to the terminal
Set Active Controller
, (comma)	left arm
. (period)	right arm
a	base/torso
q	head manual control
e	head follows active gripper
V	rviz camera control (the frame is /rviz_viewpoint )
Arm Control Mode
space	position control
m	rotation control
c	6-dof control, best for "flying" the gripper like an airplane
Frame Control Policy	The frame of reference for input commands.
z	Active camera frame
x	Torso lift frame
v	Active camera frame projected to be parallel to the ground
Select active camera frame
1	left forearm camera
2	wide stereo camera
3	right forearm camera
w	narrow stereo camera
(4)	r_gripper_stereo camera, if available

Keyboard teleoperation

TODO