Tutorial using ROS for ver.3

Operate TIAGo 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_tiago_teleop_key teleop_key.launch

To start rviz, execute the following command.

$ roslaunch sigverse_tiago_teleop_key teleop_key_with_rviz.launch

Windows startup procedure

Start the [Assets/SIGVerse/ExampleScenes/TIAGo/TIAGoTeleop(.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 TIAGo 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)

TIAGoTeleopKeyUbuntu.png

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

TIAGoTeleopKeyWindows.png

Reference Video


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Attach file: fileTIAGoTeleopKeyWindows.png 345 download [Information] fileTIAGoTeleopKeyUbuntu.png 338 download [Information]

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Last-modified: 2021-08-18 (Wed) 02:49:18 (30d)