ExampleTeleoperate

This tutorial will show you how to teleoperate the robots provided in the SubT example team.

Preliminary steps

First, you need to launch an environment:
```
  cd ~/subt_ws
  source install/setup.bash
  roslaunch subt_gazebo competition.launch
```
You can choose a different environment by setting scenario parameter to the name of the file in the worlds directory.
```
  roslaunch subt_gazebo competition.launch scenario:=cave
```
Connect your USB joystick. We use a Logitech F310 (Walmart). Make sure it is in DirectInput (D) mode (the toggle switch is on the back of the device).

Option 1: Launch the Husky robot:
```
  roslaunch subt_example husky.launch
```
- Keep pressed the left joystick (dead man's switch) and move your robot around with the same left joystick
Option 2: Launch the Jackal robot:
```
  roslaunch subt_example jackal.launch
```
- Keep pressed the left joystick (dead man's switch) and move your robot around with the same left joystick
Option 3: Launch the Iris robot:
```
  roslaunch subt_example iris.launch
```
- Use both joysticks and LB/RB buttons to control your quadcopter.

Launch an example team.
```
  roslaunch subt_example team.launch
```
You can select a robot to teleoperate by pressing A, B, X, and Y buttons. You can see the list of robots in config/robot_config.yaml in the package subt_example.
Use LT/RT to turn on/off the flashlights.
- LT: turns the flashlights on
- RT: turns the flashlights off
You can use the left and right dead man's switches, and LB as an enable button. Keep pressed either one, and move your robot around with the left joystick. You can move the robot at a higher speed by pressing RB instead of the enable buttons.
- ↑: moves forward
- ↓: moves backward
- →: turns right
- ←: turns left
  
  For Iris, you can use the right joystick to fly.
- ↑: moves upward
- ↓: moves downward
- →: moves rightward
- ←: moves leftward
You can send a simple message from the selected robot to another by pressing arrow keys. The layout corresponds to the selection buttons (A, B, X, and Y).
- ↓: sends a message to the robot assigned to A button.
- →: sends a message to the robot assigned to B button.
- ←: sends a message to the robot assigned to X button.
- ↑: sends a message to the robot assigned to Y button.
  
  They flash their middle LED when they send or receive a message.