Moby Operation Guide

Moby-RP can be controlled through a tablet paired joystick. By default, Moby-RP has ROS2 package installed for operation.

Moby Connection and Startup

Turn on the power of Moby-RP. The Moby control program will start automatically.
If the auto-run function is disabled, run the ROS2 launch file.
Connect to Wi-Fi network with format of NRMK-MobyRP-XXXX.
SSH into the navigation PC of Moby-RP (192.168.214.21:22).
Run the ROS2 launch file.

source $HOME/ros2_ws/install/setup.bash
ros2 launch moby_bringup moby_bringup.launch.py

Press and hold the HOME button of the joystick to turn it on.
The SEARCH LED of the joystick will blink and search for the connection to Moby-RP.
When the joystick is connected to Moby-RP, the SEARCH LED will be turned on.

To operate Moby-RP with the joystick, L2 trigger must be held down.
When L2 button is pressed, Moby-RP can be moved forward, backward, left and right with the left joystick.
When L2 button is pressed, Moby-RP can be rotated left and right with the right joystick. Concurrent operation with the left joystick is also possible.
Press Y button to increase the speed of Moby, and B button to decrease the speed.

Joystick button configuration for Moby

Moby Operation Guide

Button	Function
L2	Activate joystick
LEFT JOYSTICK	Move Moby-RP forward/backward/left/right when L2 button is pressed.
RIGHT JOYSTICK	Rotate Moby-RP left/right when L2 button is pressed. Can also be used in combination with the left joystick.
HOME	Press and hold to turn on/off joypad
Y	Speed up Moby
A	Slow down Moby
SEARCH LED	Connection status indicator (On: connected, Blinking: Connecting, Fast blinking: Pairing)
C TYPE PORT	Joypad charging USB-C Type port

Adjustment device and stopper for attaching to a tablet

You can adjust the maximum length to fit the size of your tablet using the slide on the back of the joystick.
Use the front bottom stopper to firmly fix the tablet by supporting the bottom surface of the tablet.