Now we are going to control the test line turtle robot with the joystick and we have already set up
the joystick.
Here are our packages.
Here it is, the launch file.
Whenever we connect the Xbox, this port will appear.
But what if it does not appear?
Then what we will do?
Well, we have this version, right?
RLS issue esp.
This will display the list of connected devices and connect joystick now.
So here we have the Xbox controller.
Okay, unplug it again.
So these are the ports on which the input devices are connected.
And now we will plug in joystick again.
And now refresh the list.
And there we have chess zero.
And we can just confirm it.
She is zero.
And there we have the board.
Okay?
And now we can write it in here.
And if it appears in your case.
Yes.
One chess, anything.
You have to just write it here.
Okay.
In this launch file.
And now we are going to launch this.
And for that we have we have the command in here.
Rules to italiam joy and joy config Xbox.
Okay.
And now we will launch this.
See the topic list.
We have this.
Okay, Now we are going to launch the turtle sim now with the topic remade.
Okay.
So now I will try to move this.
And how do I find out that this right shoulder and left vertical axis will trigger this?
Well, this is written in the configuration.
The configuration of x box config dot y is here and we can also play with it.
We will try to change this.
So split this vertically.
Now I will perform several tests if I move this handle.
This value triggers.
So this x is zero one, two, three, four.
So this is the fourth axis.
And if I move it sideways, the third axis moves.
Okay, now we will update in the linear scale.
Linear value one five and in here turbo.
Then the reward will go at high speed.
It should be 0.3.
This is 0.3m/s, which is very high value.
Regarding to our robot, the angular axis should be three as we have tested it, and instead of 0.4
it should be 0.2.
And we also want our turbo angular scale velocity as well.
Okay, we will add a line in here and the axis should be 0.4.
And now we have the trigger button enable button to trigger and let's find out what are these button?
This is the list of two buttons, right shoulder.
And this button triggers.
This is one, two, three, four, five.
And this button is five and enable button is two.
But we also want to change these buttons.
Enable button.
We want tests that is on six number the enable button six and the turbo button should be like the left
shoulder is at fourth number.
So I will update this four and save it.
All right.
Now I will launch this again.
I will press this enable button and right shoulder.
And this is moving slowly.
But with respect to our line turtle robot, these values are absolutely normal.
And now I will press the turbo button and this is now moving fast at double speed.
Okay?
And we will keep this configuration for our line.
Turtle robot.