[[Tutorial using ROS for ver.3]] * Execute Cleanup task with HSR [#hsr_cleanup] ** Startup Procedure [#ndf2ca80] Start the Ubuntu side and then the Windows side. *** Ubuntu side startup procedure [#qd09b4ab] 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 [#t197903c] Start the [Assets/SIGVerse/SampleScenes/HSR/HsrCleanup(.unity)] scene with reference to [[here>Tutorial using ROS for ver.3#open_scene]]. ** Run [#v04386d7] You can operate the HSR key on the teleop_key.launch terminal on Ubuntu side. ~ This sample is a task to grab one of the objects on the desk and carry it somewhere. ~ When "1" is entered, task text is sent from Unity to ROS. ~ When "2" is entered, the human avatar in front indicates the object to be grasped and the destination by pointing. ~ Operate the robot to grasp and carry the object. ~ If the cleanup is successful, "Task Finished" is displayed. ~* Check the terminal for details of the operation. When exiting, stop the Unity side before exiting the ROS side. Ubuntu side #ref(HSRCleanupUbuntu.png) Windows side #ref(HSRCleanupWindows.png)