Tutorial using ROS for ver.3

Control Turtlebot2 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_turtlebot2 teleop_key.launch

Windows side startup procedure

Start the [Assets/SIGVerse/ExampleScenes/Turtlebot2/Turtlebot2Teleop(.unity)] scene with reference to here.

Run

TurtleBot2 moves when you perform keyboard operations on the teleop_key.launch terminal.

Moving around:
   u    i    o
   j    k    l
   m    ,    .

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
space key, k : stop

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

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

TurtleBot2TeleopKey.png

Reference Video


Attach file: fileTurtleBot2TeleopKey.png 337 download [Information]

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Last-modified: 2021-08-18 (Wed) 02:34:04 (30d)