Unpacking Your New Base -> Mobility Base Setup -> Battery Replacement -> Wireless Joystick -> SDK Setup -> Config -> Launch -> Mounting Baxter and Backpack -> Motion Demo -> Connecting to Baxter and/or Remote Computer
The Mobility Base will respond to joystick commands as long as the base is powered on and the e-stop is connected. It is not necessary to power on the on-board computer or start any ROS nodes.
|Switch||Mode||-||Left Joystick||Motion||-||Right Joystick||Motion|
|1 (F Mode)||Manual||Down||Disable (E-Stop)||Down||Reverse|
|Left||Rotate Left||Left||Lateral Left|
|Right||Rotate Right||Right||Lateral Right|
The Wireless Remote off and out of range states are treated the same as the Disable/E-Stop mode.
- Maximum linear velocity: 1.5 m/s
- Maximum angular velocity: 0.67π rad/s
- Linear acceleration limit: 1.5 m/s2
- Angular acceleration limit: 1.5π rad/s2
- The wireless joystick will be ignored as long as messages are received on this topic.
- 5 Hz timeout.
rostopic pub /mobility_base/suppress_wireless std_msgs/Empty -r 10
- 50 Hz
Direction Range Unit Min Max linear.x -1.5 1.5 m/s linear.y -1.5 1.5 m/s angular.z -2.1(0.67π) 2.1(-0.67π) rad/s
Pairing a Wireless Joystick
A wireless joystick can be easily paired to the Mobility Base using rqt with the following steps:
- Launch rqt and load the Mobility Base GUI plugin
- Ensure the wireless controller is turned off and both sticks are in the home position (left stick down, right stick centered)
- In the Joystick tab of rqt, select "Start Bind"
- While holding the trainer switch, turn on the wireless controller. A rapid chime should indicate that pairing is in progress. After a few seconds, rqt will show "Joystick Bound" and the joystick will be ready for use.