- The added line is THIS COLOR.
- The deleted line is THIS COLOR.
[[Tutorial using ROS for ver.3]]
* Operate HSR with keyboard [#hsr_key_teleop]
** Startup Procedure [#fcf5a534]
Start the Ubuntu side and then the Windows side.
*** Ubuntu side startup procedure [#z6b04916]
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 [#a6bf004c]
Start the [Assets/SIGVerse/SampleScenes/HSR/HsrTeleop(.unity)] scene with reference to [[here>Tutorial using ROS for ver.3#open_scene]].
Start the [Assets/SIGVerse/ExampleScenes/HSR/HsrTeleop(.unity)] scene with reference to [[here>Tutorial using ROS for ver.3#open_scene]].
~* A room will appear when you start. The room is randomly selected from 4 types.
** Run [#a525469e]
You can operate HSR by operating the keyboard on the terminal of teleop_key.launch on Ubuntu side.
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)
Ubuntu side (teleop_key_with_rviz.launch) (The details may differ from the latest version)
#ref(HSRTeleopKeyUbuntu.png)
Windows side
Windows side (The details may differ from the latest version)
#ref(HSRTeleopKeyWindows.png)
''Reference Video''
#youtube(MMBuCuHP4zk)
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