7. Robot Control¶

7.1. 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.

source rlenv/bin/activate

(rlenv)$ python others/huskyListener.py

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

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.

pip install pygame

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

roscore
cd others
python j.py