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We are going to learn about how we can connect the chest cavity robot operating system to you can have

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an stake whether it is wired or wireless.

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Well, I have this one, which is wireless, but it can also be connected with the fire.

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You can have any model of any kind of choice.

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Right.

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Okay.

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Here we have the Rostral package and we can install it, open the terminal and we will have to find

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out the GitHub.

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So here it is, the GitHub link.

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Now there are many branches.

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We will be downloading our foxy branch, copy the link and come over here navigate to the workspace

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and SRC and Kirkland paste the link minus P foxy.

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Alert is cloned.

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And I will just use dot dot.

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Falcon world.

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Although it has opened it as we have Xbox and we can launch it using this command.

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But before that we are going to connect it with the PC.

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There we go.

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It is powered now.

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Heard is explaining that there are several arguments that it needs.

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The default for the joystick is this one, if your USB is changed and when you plug in your joystick

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and this use USB does not appears, then you need to mention that USB that appears upon the joystick

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plugin.

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Now we will just use this launch file in order to run the tell.

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And now we will type ros Ros2 topic list.

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And there we go.

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There's our top topic and there is our topics.

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And we will have to deal with both of them.

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It is fetching the value.

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There are several buttons in here.

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There are some vertical handles and other buttons.

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And if I try to change the state of any button, it will display the data here.

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And let's say if I try to move this this stack and there you see the value changes here, do you see

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the change in the values?

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So every button has a state here are using this input so you can make logic and we can control anything

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in the Ros.

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Let's now go.

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Samuel.

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So in order to use the same level, we need to follow the configuration of the Xbox controller that

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we have run.

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So what we will do, we will just press this button, this shoulder button and.

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Moved in left joystick.

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This configuration can be changed, but here you can see the value of linear and angular.

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Let's run the teleop on the turtle sim.

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If I do this now, will it move?

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It is not moving because we are missing one thing.

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So the turtle has the command velocity topic, which is this turtle one slash cmd, but three are publishing

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value from the Xbox controller on this topic.

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Three the topic of the turtle same.

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So now if I try to move, it will be moving.

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There is no total one slash topic present.

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Now there is one command glossary topic which is.

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So now we will equal this.

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Now I will press this one.

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The shoulder button, the right shoulder and the left vertical axis.

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Yeah.

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There you see the movement in the turtle sim.

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So this is how you can play with the joystick.