[[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.

** 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.

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)

----
''Reference Video'' ~
''Reference Video'' 
#youtube(D2m6CGQXjwI)



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