Controller

We support the following types of controllers on all platforms:

• ps4: standard Playstation4 controller (bluetooth).
• ps5: standard Playstation5 controller (bluetooth).
• logitech: Logitech F710 (USB dongle).
• xbox: Xbox controller (bluetooth).

Switching between each is done by setting the controller parameter under the platform tag.

controller: ps4 # one of ps4, ps5, logitech, xbox

Teleop Speeds

By default, holding the left trigger button of the controller enables driving at "normal" speeds while holding the right trigger button enables driving at "turbo" speeds.

The table below shows the default linear and angular speeds for each platform:

Platform	Linear speed (normal, m/s)	Linear speed (turbo, m/s)	Angular speed (normal, rad/s)	Angular speed (turbo, rad/s)
Husky A300	0.4	1.5	0.5	1.0
Husky A200	0.4	1.0	0.6	1.2
Jackal	0.4	2.0	0.6	1.4
Warthog	0.5	1.0	2.4	2.4
Dingo-D	0.4	1.0	0.6	1.0
Dingo-O	0.4	1.0	0.5	1.4
Ridgeback	0.4	0.4	0.5	0.5

Changing Teleop Speeds

The normal and turbo teleop speeds can be adjusted by modifying the controller node's ROS parameters by using the extras.ros_parameters field in robot.yaml.

extras:
  ros_parameters:
    teleop_twist_joy_node:
      scale_linear.x: 0.6
      scale_angular.z: 0.75
      scale_linear_turbo.x: 2.0
      scale_angular_turbo.z: 1.0

Normal speed parameters

• scale_linear.x sets the maximum forward/reverse velocity
• scale_linear.y sets the maximum left/right velocity (Dingo-O and Ridgeback only)
• scale_angular.z sets the maximum angular velocity

Turbo speed parameters

• scale_linear_turbo.x sets the maximum forward/reverse velocity
• scale_linear_turbo.y sets the maximum left/right velocity (Dingo-O and Ridgeback only)
• scale_angular_turbo.z sets the maximum angular velocity

warning

Do not set the normal or turbo velocity limits higher than the robot's maximum velocity. Doing so may make the robot difficult to control. The robot will not exceed its maximum speed, but the scaling on the joystick may result in awkward clipping, causing teleoperation to be jerky.