[[Tutorial using ROS for ver.3]] * Execute Cleanup task with TIAGo [#tiago_cleanup] ** Startup Procedure [#me665319] Start the Ubuntu side and then the Windows side. *** Ubuntu side startup procedure [#qccd6d60] Open a new terminal and run the following command: $ roslaunch sigverse_tiago_teleop_key teleop_key.launch To start rviz, execute the following command. $ roslaunch sigverse_tiago_teleop_key teleop_key_with_rviz.launch *** Windows startup procedure [#n848f1a9] Start the [Assets/SIGVerse/SampleScenes/TIAGo/TiagoCleanup(.unity)] scene with reference to [[here>Tutorial using ROS for ver.3#open_scene]]. ** Run [#l9669b8f] You can control TIAGo by keyboard operation on the teleop_key.launch terminal. This example is a task to grasp one of the objects on the desk and carry it somewhere. ~ When "1" is entered, task message is sent from Unity to ROS. ~ When "2" is entered, the human avatar will tell you what to grasp and where to carry it by pointing. ~ Please operate the robot to grasp and carry the target object. ~ If the cleanup task is successful, "Task Finished" is displayed. ~* Check the terminal for details of the operation. If you want to finish, stop the Unity side and then the ROS side. Ubuntu side #ref(TIAGoCleanupUbuntu.png) Windows side #ref(TIAGoCleanupWindows.png) ---- //''Reference Video'' ~ //#youtube(XCnT7523mFo)