airbot_joy

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airbot使用BATAFPV遥控器（tita自带）来控制机械臂

Build Package

# in robot environment
source /opt/ros/humble/setup.bash
source /opt/tita/ros2/setup.bash
colcon build --packages-up-to airbot_joy

添加在服务中自动启动，注意修改本包所在路径，以及

sudo vim /etc/systemd/system/airbot_joy.service
# 添加以下内容
Description=ROS 2 Airbot Joy Launch

[Service]
Type=simple
ExecStart=/usr/bin/bash -c "source /opt/ros/humble/setup.bash && source /opt/tita/ros2/setup.bash && source /home/robot/manipulator_ws/install/setup.bash && ros2 launch airbot_joy airbot_joy.launch.py"
Restart=always
User=robot
WorkingDirectory=/usr/local
Environment="ROS_DOMAIN_ID=69"
Environment="ROS_LOCALHOST_ONLY=0"
[Install]
WantedBy=multi-user.target

启动并启用服务, 检查服务状态

sudo systemctl start airbot_joy.service
sudo systemctl enable airbot_joy.service
sudo systemctl status airbot_joy.service

Usage

right switch and right trigger combine to decide arm control method 进入遥控器菜单，如果为use-sdk mode则可以控制机械臂，否则控制底座

组合：

• right switch low + right trigger off: 工具坐标系内xyz移动
• right switch low + right trigger on: 夹抓控制
• right switch middle + right trigger off: 关节123
• right switch middle + right trigger on: 关节456
• right switch upper + right trigger off: 基座坐标系内xyz移动
• right switch upper + right trigger on: 归为零位