Teleoperation Screen

Overview

The Teleoperation Screen allows operators to take manual control of the robot. It features a professional-grade virtual joystick and a suite of "drive-by-wire" controls, essential for maneuvering in tight spaces, recovering from stuck states, or performng manual inspections.

Key Features

• Precision Virtual Joystick: 360-degree control over the robot's linear and angular velocity.
• Speed Limit Controls: Adjustable "Gear" system to cap maximum speed for safe operation in crowded environments.
• Live Video Streaming: Real-time FPV (First Person View) from the robot's onboard cameras (Intel RealSense/OAK-D).
• Robot Arming/Brake Control: Secure toggle to enable/disable motors and engage electronic parking brakes.
• Real-time Velocity Feedback: Visual gauges show the robot's current speed and rotation rate in m/s and rad/s.

User Workflow

1. Enable Control: The user toggles the "Arm Robot" switch to power the drive motors.
2. Set Speed: Selects a speed profile (Low/Med/High) based on the environment.
3. Maneuver: Uses the joystick to steer the robot while monitoring the live video feed for obstacles.
4. Safety Disarm: Once manual movement is finished, the user disarms the robot to engage safety locks.