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

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.

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

⚠️While the command is entered in the terminal, the teleoperator should begin in a standing position with both arms lowered.

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

• FFW_BG2

ros2 launch ffw_bringup ffw_bg2_ai.launch.py

or use the shortcut command:

ffw_bg2_ai

• FFW_SG2

ros2 launch ffw_bringup ffw_sg2_ai.launch.py

or use the shortcut command:

ffw_sg2_ai

Option 2: Separate Launches

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

1. Launch the teleoperation Leader:

   ros2 launch ffw_bringup ffw_lg2_leader_ai.launch.py

   or use the shortcut:

   ffw_lg2_leader_ai

2. Launch the teleoperation Follower:

• FFW_BG2

  ros2 launch ffw_bringup ffw_bg2_follower_ai.launch.py

  or use the shortcut:

  ffw_bg2_follower_ai

• FFW_SG2

  ros2 launch ffw_bringup ffw_sg2_follower_ai.launch.py

  or use the shortcut:

  ffw_sg2_follower_ai

If you want to run the system without launching the cameras, you can set the launch_cameras parameter to false:

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

Basic Operation

• 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.

Stopping Teleoperation

To stop the teleoperation:

1. Return to a neutral position
2. Press Ctrl+C in the terminal running the launch file

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