Omni_Mulinex_Joystic_OPC

Overview

The package to use the joystick to pilote Omni Mulinex 1.1 Version

Usage

Copy the omni_mulinex_joystic folder inside src directory, then compile and source the workspace with

colcon build --symlink-install && . install/setup.bash

To use the joystick, run the controller on the robot, then open a local terminal and run the following commands:

export ROS_DOMAIN_ID=#ROBOT_ID

ros2 launch  omni_mulinex_joystic start_joystic_nodes.launch.py

If the command does not run try to execute sudo su after the colcon command.

REMEMBER TO LOOK AT THE PATH WHERE THE BAGS ARE SAVED AND WHERE THE CSV FILES ARE STORED.

The Matlab file for the velocity profile generation is inside the csv files folder.