Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

teleop_joy

In practice, you should not need to run the teleop_joy node directly. There are different launch files for the supported controllers.

First, plug in your controller into the surface computer via USB. Then start one of the launch files below. Follow the ArduSub documentation for more information on manual control operation.

Microsoft Xbox Controller

roslaunch bluerov_apps teleop_xbox.launch

Logitech F310 Controller

roslaunch bluerov_apps teleop_f310.launch

Dynamic Reconfiguration

Nearly all of the key joystick configuration parameters can be changed in on-the-fly using dynamic_reconfigure. Load the Dynamic Reconfigure plugin in rqt to quickly changes these values.

Troubleshooting

If you have trouble using the joystick, first check to see if the joystick itself is being read by teleop_joy using rostopic:

rostopic echo joy

If it is not, there might be an issue with the required udev rules or they might not have been installed.