Jetbot Joy Teleop

This repository contains code for running the Waveshare Jetbot AI with either a gamepad or with keyboard.

It builds a basic ROS2 node that converts movement commands into I2C commands for motors.

There are two ROS2 workspaces:

1. jetbot_complete_ws: contains a package with a launch file, plus VSCode configuration for building and running a custom ROS2-based Docker container for running the software properly.
2. jetbot_incomplete_ws: contains the same package without the launch file and configuration. The user may learn to build this configuration themself.

Building the code

This code is intended to be run on board the Jetbot directly, but can be run anywhere. The user should use VSCode to easily run the code; otherwise, the required Dockerfile is contained here.

In VSCode, install the Remote - SSH and Remote - Docker extensions. Open the jetbot_complete_ws in VSCode on the Jetbot and wait for a container to be started.

Run the following command:

colcon build --symlink-install

Once the build is complete, use either of the two options:

# For keyboard movement, use two terminals:
source install/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard  # Terminal 1
ros2 run py_jetbot_control jetbot  # Terminal 2

# For gamepad movement, connect a PS4 controller
source install/setup.bash
ros2 launch py_jetbot_control joy.yml

The robot should now respond to commands! The gamepad requires that the "A" button be held down for any commands to be transmitted.