You will be prompted “Run the Joystick ROS package at system boot?”. This program is
what allows you to control the arm with the PS4 controller without having to directly interact with
the RPi. By typing `y` or `yes`, the Pi will automatically start this program when turned on. By
typing anything else, the Pi will not start the program. Instead, you will have to manually run the
program yourself every time. As a recommendation, if you want a simple Plug N’ Play solution,
then say `yes`. If you want to do your own development on the Pi, then type `no`.
If you typed `no`, you can manually run the program by opening a terminal (by pressing
Ctrl+Alt+T) and running the command:
roslaunch interbotix_xsarm_joy xsarm_joy.launch robot_model:=<robot_model>
use_rviz:=false
where <robot_model> should be replaced with one of the model names in the table above. Note
that the use_rviz argument configures whether you’d like to see a virtual arm copy the same
movements as the real arm. It is recommended to set this to false on the Raspberry Pi to take
the load off the processor.
If you typed `yes` and would like to disable that feature later on, open a terminal on the Pi and
run the command:
sudo systemctl disable xsarm_rpi4_boot.service
However, if you just want to shut down the ‘program’ temporarily, but have it start again at the
next boot, just run the command:
sudo pkill ros
Note that this will cause the motors in the robot arm to torque off. So make sure the arm is in a
‘resting’ position before running this command.
Once the installation procedure completes, restart the Pi. At this point, you can disconnect the
mouse, monitor, and keyboard, and continue with the next section.
Connecting to the Robot Arm
If you configured the boot service in the last step, after turning on the Pi, wait until you see the
LEDs on the U2D2 start flashing. At this point, tap the PS button on the controller. Then wait
until the LED on the front of the controller turns to a solid blue (a few seconds). This means that
the controller has successfully connected to the Pi over Bluetooth. You can now use the
controller to command your arm. Make sure to take a look at the Button Mappings to get familiar
with the various command options.
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