Wireless Joystick

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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.

Remote Control

Switch Mode - Left Joystick Motion - Right Joystick Motion
0 (Gear) Computer Up Enable Up Forward
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.

Limits

  • 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

DX6i Front.png DX6i GearSwitch.jpg

ROS API

Subscribed Topics

/mobility_base/suppress_wireless (std_msgs/Empty)

  • 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

Published Topics

/mobility_base/joystick (geometry_msgs/TwistStamped)

  • 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.


Joystick Pairing.png

Next Steps

SDK Setup