###########################
Controlling the real robot
###########################

You can control Robotont using either your keyboard, a gamepad or a web-based interface. This section explains how to send movement commands to the robot and interact using both methods.

   .. image:: /pictures/coord.png
      :width: 100%

* The robot driver subscribes to a specific type of messages called *velocity commands*. The standard name for this topic is :code:`/cmd_vel`.

* The message is of type :code:`geometry_msgs/Twist` — see its structure on the `ROS 2 geometry_msgs/Twist documentation <https://docs.ros.org/en/jazzy/p/geometry_msgs/msg/Twist.html>`__.

* To set and control the robot speed, the velocity commands need to be published continuously.

Controlling the robot using teleop twist keyboard
-------------------------------------------------

Setup
~~~~~~

.. hint::

   Before installing any packages from apt, make sure existing packages are up-to-date:

   .. code-block:: bash

      sudo apt update && sudo apt upgrade -y

.. hint::

   ROS packages installed from apt are only available **in terminals where the ROS environment has been sourced**.
   To use these packages, you must first source the general ROS 2 environment:

   .. code-block:: bash

      source /opt/ros/jazzy/setup.bash

#. Install teleop twist keyboard from apt:

   .. code-block:: bash

      sudo apt install ros-jazzy-teleop-twist-keyboard

#. (Optional) Connect the robot and PC with the same subnet (see :ref:`same_env`).

Controlling the robot
~~~~~~~~~~~~~~~~~~~~~~

#. **In Terminal** (on the robot's on-board computer or another PC, if distributed ROS is set up):

   .. code-block:: bash

      ros2 run teleop_twist_keyboard teleop_twist_keyboard

#. Use the following keys to move the robot:

   .. image:: /pictures/teleop_twist_terminal.png
      :width: 100%

   .. warning::

       From this point beyond, you are able to drive the robot with a keyboard. Should you lose control over the robot, do one of the following:
                 
       * Press "k" to stop the robot
       * Press the emergency stop button on the robot
   
   .. hint:: Note that teleop only receives keypresses when the terminal window is active (in focus).
   
   .. tip:: Use :code:`CTRL + C` to stop the node.

Controlling the robot using a gamepad
--------------------------------------

Setup
~~~~~~

Connecting a controller
***********************

.. hint::

   Before installing any packages from apt, make sure existing packages are up-to-date:

   .. code-block:: bash

      sudo apt update && sudo apt upgrade -y

#. Install ``bluetooth``, ``bluez`` and ``bluez-tools`` from apt

   .. code-block:: bash

      sudo apt install bluetooth bluez bluez-tools

#. Put your controller into pairing mode

   .. note::

      ``demo_teleop`` package includes the configuration file for `DualSense® <https://www.playstation.com/en-us/accessories/dualsense-wireless-controller/>`__ controller.

      To put the DualSense controller into pairing mode:

      * Hold the **PS** button and the **Create** button down for a few seconds
      * The light bar will start **rapidly flashing blue**, which indicates, that the controller is in pairing mode

#. **In Terminal**, start the Bluetooth CLI tool:

   .. code-block:: bash

      bluetoothctl

#. Turn on the Bluetooth agent and scanning:

   .. code-block:: bash

      power on
      agent on
      scan on

#. Wait for your controller to appear

   .. note::

      It should look something like: ``Device XX:XX:XX:XX:XX:XX Wireless Controller``

#. Pair and connect the controller:

   Replace ``XX:XX:XX:XX:XX:XX`` with your controller's MAC address:

   .. code-block:: bash

      pair XX:XX:XX:XX:XX:XX
      connect XX:XX:XX:XX:XX:XX
      trust XX:XX:XX:XX:XX:XX

#. Stop scanning and exit the tool:

   .. code-block:: bash

      scan off
      exit

Dependencies
************

.. hint::

   ROS packages installed from apt are only available **in terminals where the ROS environment has been sourced**.
   To use these packages, you must first source the general ROS 2 environment:

   .. code-block:: bash

      source /opt/ros/jazzy/setup.bash

#. Install ``joy`` from apt:

   .. code-block:: bash

      sudo apt install ros-jazzy-joy

#. Navigate to your colcon workspace:

   .. code-block:: bash

      cd ~/<your_colcon_workspace>/src

#. Clone the ``demo_teleop`` package:

   .. code-block:: bash

      git clone https://github.com/robotont-demos/demo_teleop.git

#. Build the package:

   .. code-block:: bash

      colcon build --packages-select demo_teleop

#. (Optional) Connect the robot and PC with the same subnet (see :ref:`same_env`).

Controlling the robot
~~~~~~~~~~~~~~~~~~~~~~

#. **In Terminal** (on the robot's on-board computer or another PC, if distributed ROS is set up):

   .. code-block:: bash

      ros2 launch demo_teleop teleop_joy.launch.py

#. The robot can be controlled using the joysticks:

   .. image:: /pictures/dualsense_conf.png
      :width: 100%

.. warning::

   From this point beyond, you are able to drive the robot with a controller. Should you lose control over the robot, do one of the following:

   * Use :code:`CTRL + C` to stop the node.
   * Press the emergency stop button on the robot

Controlling the robot using a web interface
-------------------------------------------

.. important::

   Make sure that the user's device and the robot are connected to the same subnet and are visible to one another (see :ref:`verifying_communication`).

#. Open the following URL in your web browser (replace `<ip-of-the-robot>` with the actual IP address of your robot):

   .. code-block:: bash
      
     http://<ip-of-the-robot>:3000/

   You should see the following page:

      .. image:: /pictures/webapp_ok_step.png
          :width: 100%

#. Click OK to close the connection status dialog

#. You can now control the robot using the on-screen joystick and view both the camera feed and depth cloud in your browser.

   .. image:: /pictures/webapp3.png
       :width: 100%