Robot Teleop Using a Keyboard#

Hardware Prerequisites#

You have a robot and a keyboard or an SSH/VNC connection to the robot.

Example for the AAEON UP Xtreme i11 Robotic Development Kit#

Connect to your robot via SSH/VNC or direct access. If you choose direct access, insert a monitor and a keyboard into the robot’s compute system.
Set up your system by following the steps in Prepare the Target System.

Ensure the ros-humble-aaeon-ros2-amr-interface Deb package is installed.

sudo apt update
sudo apt install ros-humble-aaeon-ros2-amr-interface

Open a terminal or establish a new SSH connection to your robot system in order to initiate your control node.

Check the device name of the motor controller
```
sudo dmesg | grep ttyUSB
```

The output should contain the ch341-uart device providing the interface to the motor controller board.

[1452443.462213] usb 1-9: ch341-uart converter now attached to ttyUSB0
[1452444.061111] ch341-uart ttyUSB0: ch341-uart converter now disconnected from ttyUSB0

Ensure the AAEON node configuration file has the proper USB device configured as value of port_name.
```
vi /opt/ros/humble/share/ros2_amr_interface/params/aaeon_node_params.yaml
```

Start the motor control node

AAEON_NODE_CONFIG_FILE=/opt/ros/humble/share/ros2_amr_interface/params/aaeon_node_params.yaml

# Launch the AAEON Robot Motor Board Interface
ros2 run ros2_amr_interface amr_interface_node --ros-args \
   --params-file $AAEON_NODE_CONFIG_FILE \
   --remap /amr/cmd_vel:=/cmd_vel \
   --remap /amr/battery:=/sensors/battery_state

On another terminal or new SSH connection, start the teleop keyboard:
```
TURTLEBOT3_MODEL=aaeon ros2 run turtlebot3_teleop teleop_keyboard
```
When the node starts running, it will display a list of the available keyboard commands to control the robot. The available commands depend on the selected robot model.

Troubleshooting#

You can stop the demo anytime by pressing ctrl-C.

For general robot issues, go to: Troubleshooting for Autonomous Mobile Robot Tutorials .