1 00:00:06,110 --> 00:00:11,720 Now we are going to control the test line turtle robot with the joystick and we have already set up 2 00:00:11,720 --> 00:00:12,740 the joystick. 3 00:00:12,770 --> 00:00:14,360 Here are our packages. 4 00:00:16,070 --> 00:00:17,240 Here it is, the launch file. 5 00:00:17,240 --> 00:00:20,300 Whenever we connect the Xbox, this port will appear. 6 00:00:20,300 --> 00:00:22,400 But what if it does not appear? 7 00:00:22,550 --> 00:00:23,740 Then what we will do? 8 00:00:23,750 --> 00:00:25,340 Well, we have this version, right? 9 00:00:25,370 --> 00:00:27,350 RLS issue esp. 10 00:00:27,620 --> 00:00:32,240 This will display the list of connected devices and connect joystick now. 11 00:00:34,400 --> 00:00:36,940 So here we have the Xbox controller. 12 00:00:36,970 --> 00:00:39,010 Okay, unplug it again. 13 00:00:40,750 --> 00:00:45,000 So these are the ports on which the input devices are connected. 14 00:00:45,010 --> 00:00:48,850 And now we will plug in joystick again. 15 00:00:48,880 --> 00:00:51,100 And now refresh the list. 16 00:00:51,100 --> 00:00:52,990 And there we have chess zero. 17 00:00:53,080 --> 00:00:56,500 And we can just confirm it. 18 00:00:56,530 --> 00:00:58,960 She is zero. 19 00:00:59,410 --> 00:01:00,780 And there we have the board. 20 00:01:00,790 --> 00:01:01,090 Okay? 21 00:01:01,090 --> 00:01:03,970 And now we can write it in here. 22 00:01:04,420 --> 00:01:07,180 And if it appears in your case. 23 00:01:07,180 --> 00:01:07,540 Yes. 24 00:01:07,540 --> 00:01:09,220 One chess, anything. 25 00:01:09,220 --> 00:01:11,440 You have to just write it here. 26 00:01:11,470 --> 00:01:11,920 Okay. 27 00:01:11,920 --> 00:01:13,030 In this launch file. 28 00:01:13,030 --> 00:01:14,650 And now we are going to launch this. 29 00:01:14,650 --> 00:01:18,580 And for that we have we have the command in here. 30 00:01:18,850 --> 00:01:22,750 Rules to italiam joy and joy config Xbox. 31 00:01:22,750 --> 00:01:23,380 Okay. 32 00:01:24,700 --> 00:01:26,650 And now we will launch this. 33 00:01:33,100 --> 00:01:34,330 See the topic list. 34 00:01:34,510 --> 00:01:35,470 We have this. 35 00:01:35,500 --> 00:01:41,080 Okay, Now we are going to launch the turtle sim now with the topic remade. 36 00:01:42,940 --> 00:01:43,450 Okay. 37 00:01:43,450 --> 00:01:46,210 So now I will try to move this. 38 00:01:48,750 --> 00:01:54,510 And how do I find out that this right shoulder and left vertical axis will trigger this? 39 00:01:54,870 --> 00:01:57,900 Well, this is written in the configuration. 40 00:01:58,410 --> 00:02:05,530 The configuration of x box config dot y is here and we can also play with it. 41 00:02:05,550 --> 00:02:07,340 We will try to change this. 42 00:02:07,350 --> 00:02:08,820 So split this vertically. 43 00:02:11,890 --> 00:02:15,010 Now I will perform several tests if I move this handle. 44 00:02:15,040 --> 00:02:16,540 This value triggers. 45 00:02:16,540 --> 00:02:21,580 So this x is zero one, two, three, four. 46 00:02:21,670 --> 00:02:24,100 So this is the fourth axis. 47 00:02:24,100 --> 00:02:28,420 And if I move it sideways, the third axis moves. 48 00:02:28,450 --> 00:02:32,470 Okay, now we will update in the linear scale. 49 00:02:32,470 --> 00:02:36,250 Linear value one five and in here turbo. 50 00:02:36,280 --> 00:02:38,740 Then the reward will go at high speed. 51 00:02:38,740 --> 00:02:41,230 It should be 0.3. 52 00:02:41,260 --> 00:02:45,340 This is 0.3m/s, which is very high value. 53 00:02:45,520 --> 00:02:53,920 Regarding to our robot, the angular axis should be three as we have tested it, and instead of 0.4 54 00:02:53,950 --> 00:02:55,840 it should be 0.2. 55 00:02:55,840 --> 00:02:59,710 And we also want our turbo angular scale velocity as well. 56 00:02:59,740 --> 00:03:05,560 Okay, we will add a line in here and the axis should be 0.4. 57 00:03:05,560 --> 00:03:13,310 And now we have the trigger button enable button to trigger and let's find out what are these button? 58 00:03:13,340 --> 00:03:16,580 This is the list of two buttons, right shoulder. 59 00:03:16,580 --> 00:03:18,200 And this button triggers. 60 00:03:18,200 --> 00:03:21,200 This is one, two, three, four, five. 61 00:03:22,520 --> 00:03:26,150 And this button is five and enable button is two. 62 00:03:26,150 --> 00:03:28,550 But we also want to change these buttons. 63 00:03:28,550 --> 00:03:29,420 Enable button. 64 00:03:29,420 --> 00:03:39,200 We want tests that is on six number the enable button six and the turbo button should be like the left 65 00:03:39,200 --> 00:03:41,210 shoulder is at fourth number. 66 00:03:41,210 --> 00:03:45,590 So I will update this four and save it. 67 00:03:46,640 --> 00:03:47,150 All right. 68 00:03:47,180 --> 00:03:49,370 Now I will launch this again. 69 00:03:49,370 --> 00:03:52,850 I will press this enable button and right shoulder. 70 00:03:53,270 --> 00:03:54,920 And this is moving slowly. 71 00:03:54,920 --> 00:03:59,960 But with respect to our line turtle robot, these values are absolutely normal. 72 00:03:59,960 --> 00:04:08,810 And now I will press the turbo button and this is now moving fast at double speed. 73 00:04:08,960 --> 00:04:09,530 Okay? 74 00:04:09,530 --> 00:04:12,350 And we will keep this configuration for our line. 75 00:04:12,350 --> 00:04:13,070 Turtle robot.