Driving Husky ============== There are four ways to drive Husky, and each way will work on a physical Husky robot as well as on a simulated Husky. The first two ways are teleoperation using a remote controller, and manually through publishing ROS2 messages. These two ways are covered in this section. The third way is using the interactive controller in ``rviz``. This is covered in the :doc:`Simulation ` section. The fourth way is through autonomous navigation. This will be covered in this tutorial in the future! Safety Precautions ------------------- .. Warning:: Husky is capable of reaching high speeds. Careless driving can cause harm to the operator, bystanders, the robot, or other property. Always remain vigilant, ensure you have a clear line of sight to the robot, and operate the robot at safe speeds. We strongly recommend driving in normal (slow) mode first, and only enabling turbo in large, open areas that are free of people and obstacles. Driving with Remote Controller --------------------------------- .. note:: For instructions on controller pairing, see :doc:`Remote Controller Pairing `. Teleoperation is launched via the base launch which allows you to drive Husky with the paired remote controller. To drive the Husky, Axis 0 controls the robot's steering, Axis 1 controls the forward/backward velocity, and Buttons 4 and 5 act as enable & enable-turbo respectively. On common controllers, these correspond to the following physical controls: ============= ==================================== ===== ===== ========= ======================= Axis/Button Physical Input PS4 F710 Xbox One Action ============= ==================================== ===== ===== ========= ======================= Axis 0 Left thumb stick horizontal LJ LJ LJ Drive forward/backward Axis 1 Left thumb stick vertical LJ LJ LJ Rotate Button 4 Left shoulder button or trigger L1 LB LB Enable normal speed Button 5 Right shoulder button or trigger R1 RB RB Enable turbo ============= ==================================== ===== ===== ========= ======================= You must hold either Button 4 or Button 5 at all times while driving the robot. Publishing ROS2 Messages ------------------------- You can manually publish ``geometry_msgs/msg/Twist`` ROS2 messages to either the ``/husky_velocity_controller/cmd_vel_unstamped`` or the ``/cmd_vel`` ROS2 topics to drive Husky. For example, in terminal, run: .. code-block:: bash ros2 topic pub --once /husky_velocity_controller/cmd_vel_unstamped geometry_msgs/msg/Twist '{linear: {x: 0.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}' The command above makes Husky drive forward momentarily at 0.5 m/s without any rotation. Emergency Stop --------------- Husky has an E-Stop button on its rear. Pressing it will cut power to the motors. To disengage the E-Stop, simply twist the button in the direction indicated by the arrows. Whenever you need to perform maintenance on Husky, we recommend engaging the E-Stop if the robot cannot be fully powered down.