[[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]]. ~* A room will appear when you start. The room is randomly selected from 4 types. ** Run [#a525469e] 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) #ref(HSRTeleopKeyUbuntu.png) Windows side #ref(HSRTeleopKeyWindows.png) ---- ''Reference Video'' ~ #youtube(MMBuCuHP4zk)