Once your robot is powered up, connected, and you've checked to make sure that ROS is communicating properly, there are several things you might want to do, whether you are running on the bench or in a field trial.
Calibrate Legs and Start Underwater Swimmer Mode
The legs will rotate, then rotate back after five seconds. Ensure that there is nothing in the way of the legs, and that your hands are clear.
This must be run on the vision stack.
This will start the cameras at the standard IRV parameters. To test that this is working, you can run:
This must either be run on the OCU, or through an ssh session which as X-forwarding on, which can be initiated as follows:
Set up Joystick Teleoperation
Before trying to set this up, plug in the joystick dongle. Run both of these commands on the OCU.
Now you should be able to control Minnebot with your controller. Controller mappings will be added here in the near future.