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[[Tutorial using ROS for ver.3]]
* Grasping with TurtleBot3 by keyboard operation [#hced1165]
TurtleBot3 has OpenManipulator.
Please refer to [[here>http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#manipulation]] for the specifications of Open Manipulator. ~
Please refer to [[here>http://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_realsense/]] for camera specifications.
Please refer to [[here>https://www.stereolabs.com/zed-mini/]] for camera specifications.
** Startup Procedure [#jba3eafa]
Start the Ubuntu side and then the Windows side.
*** Ubuntu side startup procedure [#ncdcea0d]
Open a new terminal and run the following command:
$ roslaunch sigverse_turtlebot3_open_manipulator grasping_teleop_key.launch
*** Windows startup procedure [#w85a2596]
Start the [Assets/SIGVerse/ExampleScenes/Turtlebot3/OpenManipulator(.unity)] scene with reference to [[here>Tutorial using ROS for ver.3#open_scene]].
** Run [#dc60bbe2]
You can control TurtleBot3 by keyboard operation on the grasping_teleop_key.launch terminal.
~ * Check the terminal for details of the operation.
~* Because of the high image processing load, the robot's camera image transmission interval is set to 1000 [ms]. ~
(If you want to shorten the sending interval, please reduce the Sending Interval of the ZEDMiniPubCameraImageController attached to turtlebot3_with_open_manipulator/RosBridgeScripts)
If you want to finish, stop the Unity side and then the ROS side.
Ubuntu side
Ubuntu side (The details may differ from the latest version)
#ref(TurtleBot3GraspTeleopUbuntu.png)
Windows side
Windows side (The details may differ from the latest version)
#ref(TurtleBot3GraspTeleopWindows.png)
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''Reference Video'' ~
''Reference Video''
#youtube(D2m6CGQXjwI)