🎮 MICKY Teleop

This section guides you through running the MICKY teleoperation.

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Keyboard Teleop

After installing all required packages, connect the Arduino board (already configured according to the installation guide) to your computer.

Then, open two terminals.

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In the first terminal, run:

ros2 launch motors_controller motors_controller.launch.py

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In the second terminal, run:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

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Use the following keys to control the robot:

Key	Action
i	Move forward
,	Move backward
j	Turn left
l	Turn right
u	Forward + left
o	Forward + right
m	Backward + left
.	Backward + right
k	Stop the robot

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Joystick Teleop

It is also possible to control the robot using a Logitech game controller.

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Install Required Packages

sudo apt install ros-humble-joy ros-humble-teleop-twist-joy

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Connect the Controller

Connect the Logitech controller via USB or Bluetooth, and run the commands below:

To verify that it is detected:

ls /dev/input/js0

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In the first terminal, run:

ros2 launch motors_controller motors_controller.launch.py

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In a second terminal, run:

ros2 run joy joy_node

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In a third terminal, run:

ros2 run teleop_twist_joy teleop_node

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Controls

• Left analog stick → linear motion (forward/backward and lateral)

• Right analog stick → rotation