- The added line is THIS COLOR.
- The deleted line is THIS COLOR.
[[Tutorial using ROS for ver.3]]
* Operate PR2 with keyboard [#pr2_key_teleop]
** Startup procedure [#s3935d29]
Start the Ubuntu side and then the Windows side.
*** Ubuntu side startup procedure [#q2116c4c]
Open a new terminal and run the following command:
$ roslaunch sigverse_pr2_teleop_key teleop_key.launch
To start rviz, execute the following command.
$ roslaunch sigverse_pr2_teleop_key teleop_key_with_rviz.launch
*** Windows side startup procedure [#x1228a56]
Start the [Assets/SIGVerse/ExampleScenes/PR2/Pr2Teleop(.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 [#e45add52]
You can control PR2 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)
Ubuntu side (teleop_key_with_rviz.launch) (The details may differ from the latest version)
#ref(PR2TeleopKeyUbuntu.png)
Windows side
Windows side (The details may differ from the latest version)
#ref(PR2TeleopKeyWindows.png)
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''Reference Video'' ~
''Reference Video''
#youtube(ZrQ_4lTEtC8)
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#counter