We are going to learn about how we can connect the chest cavity robot operating system to you can have
an stake whether it is wired or wireless.
Well, I have this one, which is wireless, but it can also be connected with the fire.
You can have any model of any kind of choice.
Right.
Okay.
Here we have the Rostral package and we can install it, open the terminal and we will have to find
out the GitHub.
So here it is, the GitHub link.
Now there are many branches.
We will be downloading our foxy branch, copy the link and come over here navigate to the workspace
and SRC and Kirkland paste the link minus P foxy.
Alert is cloned.
And I will just use dot dot.
Falcon world.
Although it has opened it as we have Xbox and we can launch it using this command.
But before that we are going to connect it with the PC.
There we go.
It is powered now.
Heard is explaining that there are several arguments that it needs.
The default for the joystick is this one, if your USB is changed and when you plug in your joystick
and this use USB does not appears, then you need to mention that USB that appears upon the joystick
plugin.
Now we will just use this launch file in order to run the tell.
And now we will type ros Ros2 topic list.
And there we go.
There's our top topic and there is our topics.
And we will have to deal with both of them.
It is fetching the value.
There are several buttons in here.
There are some vertical handles and other buttons.
And if I try to change the state of any button, it will display the data here.
And let's say if I try to move this this stack and there you see the value changes here, do you see
the change in the values?
So every button has a state here are using this input so you can make logic and we can control anything
in the Ros.
Let's now go.
Samuel.
So in order to use the same level, we need to follow the configuration of the Xbox controller that
we have run.
So what we will do, we will just press this button, this shoulder button and.
Moved in left joystick.
This configuration can be changed, but here you can see the value of linear and angular.
Let's run the teleop on the turtle sim.
If I do this now, will it move?
It is not moving because we are missing one thing.
So the turtle has the command velocity topic, which is this turtle one slash cmd, but three are publishing
value from the Xbox controller on this topic.
Three the topic of the turtle same.
So now if I try to move, it will be moving.
There is no total one slash topic present.
Now there is one command glossary topic which is.
So now we will equal this.
Now I will press this one.
The shoulder button, the right shoulder and the left vertical axis.
Yeah.
There you see the movement in the turtle sim.
So this is how you can play with the joystick.