Robot Control
==============

Launch the AGV
--------------

Before making AGV start navigation, you need to activate AGV to receive message from other distributed devices.


Use ssh command to connect AGV device and execute the following commnad.

.. code-block:: bash

    source rlenv/bin/activate
    
    (rlenv)$ python others/huskyListener.py

Run the ``controller.py`` in control policy module to start the nevigation.


Use Joystick To Control AGV
---------------------------

We also provide script that you can use joystick to control AGV. Please be sure you activate AGV device before using joystick.


Before execute our code, you need to install pygame libarary and download communication.py from our github repository.

.. code-block:: bash

    pip install pygame


Plug your joystick device into any other devices and execute code.

.. code-block:: bash

    roscore
    cd others
    python j.py