Kobuki Turtlebot II. User’s Manual
5.3 Controlling the Kobuki robot with a joystick
Install joystick drivers and turtlebot teleop:
$> sudo apt-get install ros-kinetic-joystick-drivers
$> sudo apt-get install ros-kinetic-ps3joy
$> sudo apt-get install ros-kinetic-turtlebot-teleop
$> sudo apt-get install sixad
5.3.1 PS3 gamepad
It’s necessary to make some changes in launch file:
In /opt/ros/kinetic/share/turtlebot_teleop/launch/ps3_teleop.launch
Change the line remap cmd_vel with the following line:
<remap from="turtlebot_teleop_joystick/cmd_vel"
to="mobile_base/commands/velocity"/>
Start kobuki node:
$> roslaunch kobuki_node minimal.launch --screen
In order to pair the joystick:
Obviously it’s necessary a bluetooth dongle, with the joystick connected with usb cable:
You will see something similar to:
Current Bluetooth master: 00:22:b0:d0:5a:09
Setting master bd_addr to 00:22:b0:d0:5a:09
Press Ctrl-D now so that you do not continue to run as root.
If you get something like the following:
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.
Run the command:
$> hciconfig hci0 reset
and then retry:
$> rosrun ps3joy sixpair
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