Tutorial using ROS for ver.3

Operate HSR with keyboard

Startup Procedure

Start the Ubuntu side and then the Windows side.

Ubuntu side startup procedure

Open a new terminal and run the following command:

$ roslaunch sigverse_hsr_teleop_key teleop_key.launch

To start rviz, execute the following command.

$ roslaunch sigverse_hsr_teleop_key teleop_key_with_rviz.launch

Windows startup procedure

Start the [Assets/SIGVerse/ExampleScenes/HSR/HsrTeleop(.unity)] scene with reference to here.

* A room will appear when you start. The room is randomly selected from 4 types.


You can control HSR by keyboard operation on the teleop_key.launch terminal.

* Check the terminal for details of the operation.

* Head's Stereo Camera is disabled to reduce communication load.

If you want to finish, stop the Unity side and then the ROS side.

Ubuntu side (teleop_key_with_rviz.launch) (The details may differ from the latest version)


Windows side (The details may differ from the latest version)


Reference Video

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Attach file: fileHSRTeleopKeyWindows.png 895 download [Information] fileHSRTeleopKeyUbuntu.png 940 download [Information]

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Last-modified: 2021-08-18 (Wed) 02:36:27 (927d)