Robotnik Kobuki Turtlebot 2, User Manual

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Kobuki Turtlebot II. User’s Manual
After conducting the above changes, save the launch file as ps4_teleop.launch.
When using the PS4 gamepad for the first time, you can pair your system with the
gamepad wirelessly over Bluetooth. The
​ first ​ method is conducted via the terminal
window. Follow the below instructions in order to install the required Linux driver (ds4drv)
on your Linux system (stable version):
$>
​
sudo apt-get install python-pip
$>
​
sudo pip install ds4drv
Test the connection with:
$>
​
sudo ds4drv
and then press and hold both the Share and PS buttons for a few seconds to enter the
joystick into pairing mode (press the Share button first). The keyword ´Found device´
should appear once pairing is established.
Please note that if the joystick does not pair successfully, it might be caused by Bluetooth
on the computer being disabled by default. Perform the following to enable it:
$>
​
sudo chmod +x /usr/sbin/bluetoothd
$>
​
sudo service bluetooth restart
You can also pair your system with the gamepad (also wirelessly via Bluetooth) directly on
the Linux graphical user interface. First put the controller into pairing mode by pressing
and holding the Share and PS buttons at the same time (press the Share button first) for a
few seconds. Locate your Bluetooth menu on the desktop and click Bluetooth Settings. On
the bottom-left corner, click the add icon and wait for the PS4 controller to appear on the
found list.
To test controlling the Turtlebot with the PS4 joystick,
Start kobuki node:
$> roslaunch kobuki_node minimal.launch --screen
Execute turtlebot_teleop:
$> roslaunch turtlebot_teleop ps4_teleop.launch
First press and hold R1, and then move the Turtlebot by moving the left analog joystick
vertically. To perform rotation, move the right analog joystick horizontally (while R1 is still
held down).
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