Demo Applications

Tele-op

his step will guide you to control RIA E100 manually. RIA E100 can be controlled either using joystick comes with robot or using keyboard from host PC.

To control RIA with joystick follow these steps

  • During configuration RIA E100 it should be mentioned in bashrc file as
  • Open the terminal in host PC and connect to robot via ssh, if prompts for password type “gaitechedu”
ssh ria@RIA_IP_ADDRESS
  • In the same terminal type following command
roslaunch ria_bringup minimal.launch
  • Controls:
  • Linear Slow Motion: Holding slow mode switch + throttle rise
  • Angular Slow Motion: Holding slow mode switch + throttle side
  • Linear Fast Motion: Holding fast mode button + throttle rise
  • Angular Fast Motion: Holding fast mode button + throttle side
../_images/ria_r100_quick_start_fig01.png

Fig 1. Game Pad – Logitech f710

To control RIA with keyboard follow these steps

  • Open the terminal in host PC and connect to robot via ssh, if prompts for password type “gaitechedu”
ssh ria@RIA_IP_ADDRESS
  • In the same terminal type following command
roslaunch ria_bringup minimal.launch
  • In another terminal connect to robot via ssh and run following command in same terminal
roslaunch ria_teleop keyboard.launch

Now you are able to control robot using keyboard, controls will be displayed in same terminal