Remote Control
./pepsi gammaray <robot> disables the manufacturer controller services for HULK remote control.
./pepsi boosterize <robot> restores the RemoteController section in /opt/booster/Daemon/bin/child.ini and enables and starts joystick_ros2.
Controls
Put the robot in Initial, then press Start on the controller to enable remote control.
Remote control cannot override Damping, Prepare, or Stop.
| Control | Action |
|---|---|
| Press Start | Toggle remote control on/off (starts off) |
| Primary state changes | Disable remote control |
| Controller disconnected or input stale | Stand while remote control remains enabled |
| Left stick up/down | Walk forward/backward |
| Left stick left/right | Walk sideways |
| Right stick left/right | Turn the robot |
| D-pad left/right | Move the head left/right |
| D-pad up/down | Move the head up/down |
| Hold left shoulder, L1/LB | Rumpelstilzchen kick |
| Hold right shoulder, R1/RB | Schlong kick |
| Analog triggers, L2/LT and R2/RT | Unbound |
| Right stick up/down | Unbound |
Restore Manufacturer Controls
Boosterize restores the RemoteController section in /opt/booster/Daemon/bin/child.ini and enables and starts joystick_ros2.