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.

Run

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)

HSRTeleopKeyUbuntu.png

Windows side

HSRTeleopKeyWindows.png

Reference Video


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Attach file: fileHSRTeleopKeyWindows.png 103 download [Information] fileHSRTeleopKeyUbuntu.png 96 download [Information]

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Last-modified: 2020-02-04 (Tue) 15:25:20 (124d)