The teaching phase starts with a long push of the front button. The LED at the left side is turned on, and you can control the robot with a gamepad. When you can stop the teach with a push of the front button again. The episode is recored to a file in ~/.ros/. The name of the file can be obtained from the ROS parameter /current\_bag\_file.

After the training, the replay can be started with a long push of the center button. It finishes with one more push of the center button. After that, you can restart the replay again.

Bag files are stored in ~/.ros but they are not erased. Please clean in the directory occasionally.

• Ryo Okazak

codes for gamepad control (original repo: https://github.com/zaki0929/raspimouse_game_controller ）

• Masahiro Kato

codes for teaching (original repo: https://github.com/kato-masahiro/raspimouse_maze_manual ）