(PR2)Operate with Keyboard

Tutorial using ROS for ver.3

Operate PR2 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_pr2_teleop_key teleop_key.launch

To start rviz, execute the following command.

$ roslaunch sigverse_pr2_teleop_key teleop_key_with_rviz.launch

Windows side startup procedure †

Start the [Assets/SIGVerse/ExampleScenes/PR2/Pr2Teleop(.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 PR2 by keyboard operation on the teleop_key.launch terminal.

* Check the terminal for details of the operation.

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