Teleoperation Guide

This guide explains how to set up and operate the AI Worker using teleoperation.

Prerequisites

Before starting teleoperation, make sure:

• The follower(AI Worker) is properly set up and powered on

Steps for Teleoperation Setup (Leader)

(*The term Leader refers to the control device in the AI WORKER system)

1. Power Cable: Connect the power adapter to supply power to the U2D2 device.
2. U2D2 ON/OFF: This switch is located inside a small recessed hole. The device is turned on when the inner white-dotted button is pressed.
3. USB Cable: Connect a USB cable from the U2D2 to one of the USB ports on the back of the Follower.

How to Wear the Leader

First Leader Version

1. Put both arms through the Leader's shoulder straps.
2. Fasten the chest belt buckle and hip belt buckle.
3. Adjust the length of the shoulder straps, chest belt, and hip belt so that the Leader is securely fixed on your back.

Second Leader Version It can be worn more easily by users with different body types.

1. First, pull the inner belt tightly and fasten it around the waist.
2. Then, pull the outer belt and attach it over the inner belt using the Velcro.

Running Teleoperation

The following teleoperation commands are executed on the robot PC. You can either connect a keyboard and mouse directly to the Nvidia Orin, or access it via SSH (see the Setup Guide for instructions).

If no containers are running when you execute docker ps -a on the robot PC, start the container using:

cd ai_worker

./docker/container.sh start

If a container is already running, enter the ai_worker Docker container with:

./docker/container.sh enter

Option 1: All-in-One Launch

NOTICE

After execution, the follower will not move until you push both hand triggers for more than 2 seconds. Once you do, the follower will slowly move toward the leader's position, and after reaching a certain proximity, it will move more quickly. This behavior is the same even when launching the leader and follower separately.

To start both the Leader and Follower(BG2/SG2) simultaneously:

ros2 launch ffw_bringup ffw_bg2_ai.launch.py

Or use the shortcut:

ffw_bg2_ai

Option 2: Separate Launches

If you want to run the Leader and Follower separately in different terminals:

1. Launch the teleoperation Follower:

ros2 launch ffw_bringup ffw_bg2_follower_ai.launch.py

Or use the shortcut:

ffw_bg2_follower_ai

Optional Parameters

You can customize the follower launch behavior with optional parameters:

Disable Camera Launch To run the system without launching the cameras, set the launch_cameras parameter to false:

ros2 launch ffw_bringup ffw_bg2_follower_ai.launch.py launch_cameras:=false

Disable Position Initialization To start the system without initializing the position, set the init_position parameter to false:

ros2 launch ffw_bringup ffw_bg2_follower_ai.launch.py init_position:=false

Combine Multiple Parameters You can use both parameters together:

ros2 launch ffw_bringup ffw_bg2_follower_ai.launch.py launch_cameras:=false init_position:=false

2. Launch the teleoperation Leader:

   ros2 launch ffw_bringup ffw_lg2_leader_ai.launch.py

   Or use the shortcut:

   ffw_lg2_leader_ai

Basic Operation

NOTICE

You must push both hand triggers for more than 2 seconds for the follower to start moving. When you push both triggers forward, the follower will slowly move to the leader's position, and once it comes within a certain error range, it will move quickly.

FFW_BG2

1. Once both systems are running, the Follower will begin to mirror your movements.
2. Start with slow, gentle movements to get familiar with the response.
3. The grip buttons on the Leader control the gripper actions on the Follower.
4. The right joystick controls the up and down motion of the lift, while the left joystick controls thehead section of the robot.

FFW_SG2

1. Once both systems are running, the Follower will begin to mirror your movements.
2. Start with slow, gentle movements to get familiar with the response.
3. The grip buttons on the Leader control the gripper actions on the Follower.
4. The right joystick controls the up and down motion of the lift, while the left joystick controls thehead section of the robot.
5. Pressing both switches simultaneously switches to SWERVE DRIVE MODE.
6. In SWERVE DRIVE MODE, the left joystick controls: X-axis: Linear x, Y-axis: Linear y The right joystick controls: Y-axis: Angular z

WARNING

In swerve mode, the arms continue to move. Please be careful.

Pause Teleoperation

To temporarily pause teleoperation:

1. Push both hand triggers for more than 2 seconds
2. The follower will stop and hold its current position

Stopping Teleoperation

To stop teleoperation:

1. Return to a neutral position or pause the system.
2. Press Ctrl+C in the terminal where the launch file is running.

Troubleshooting

• Delayed movements: Check for any obstructions or if you're reaching joint limits
• Unresponsive gripper: Ensure proper calibration and connection
• System unresponsive: Check ROS topic connections with ros2 topic list and ros2 topic echo
• Trigger pause function not available or robot moves immediately upon startup: Please update the ai_worker source code to version 1.1.10 or higher