Teleop

Interactive Console

Run rs alias or rosrun robik robik_shell.py
Type help for more info.

Wiimote Control

home enter menu
up move base forward
down move base backward
left sideways movement left
right sideways movement left
minus rotate base left
plus rotate base right
one lift torso up
two bring torso down
A move head instead of base
B run base faster

Menu

up previous command
down next command
left escape to higher level menu or escape menu
right enter

Pairing Wiimote

Pairing PR2 PS3 joystick

Subscriptions

/wiimote/state/linear_acceleration_zeroed
/wiimote/state/ir_tracking
/joy/axes[]  (roll,pitch state)