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CATHI joystick teleoperation

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jeffreyjene
(@jeffreyjene)
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Joined: 2 years ago
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I did some more work on CATHI this week. Loaded ROS to the Jetson Nano and connected to the motor driver written on the Arduino Mega using rosserial-arduino library. I used the Joy library to get the joystick input. I wrote and published a python node that posts data from the XBOX joystick to the cmd-vel topic which the Arduino subscribes to. It passes a "Twist" message which the Arduino uses to drive the motors. The remote machine is my Ubuntu desktop and I'm logged into the Jetson via ssh. Works pretty well, so now on to some OpenCV stuff.

https://www.youtube.com/shorts/SQLaXmpYL3g


   
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THRandell
(@thrandell)
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Joined: 1 year ago
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Nice!  It spins on a dime.  What do you think the top speed is?

 

Tom


   
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jeffreyjene
(@jeffreyjene)
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Joined: 2 years ago
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@thrandell I'm not really sure, I'd have to calculate it. Too fast for the unit though! I have the max speed toned down quite a bit (100 out of 255 I think) and I think I need to set it a bit lower.


   
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