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[[Tutorial using ROS for ver.3]]

&color(red){&size(40){ROS Noetic Not Supported};};


* Control Turtlebot2 with keyboard [#turtlebot2_key_teleop]

** Startup Procedure [#xaaf5a19]

Start the Ubuntu side and then the Windows side.

*** Ubuntu side startup procedure [#he2ae03c]

Open a new terminal and run the following command:
 $ roslaunch sigverse_turtlebot2 teleop_key.launch


*** Windows side startup procedure [#ifc7cd9b]

Start the [Assets/SIGVerse/SampleScenes/Turtlebot2/Turtlebot2Teleop(.unity)] scene with reference to [[here>Tutorial using ROS for ver.3#open_scene]].
Start the [Assets/SIGVerse/ExampleScenes/Turtlebot2/Turtlebot2Teleop(.unity)] scene with reference to [[here>Tutorial using ROS for ver.3#open_scene]].


** Run [#h6d18830]

TurtleBot2 moves when you perform keyboard operations on the teleop_key.launch terminal.

~* Check the terminal for details of the operation.
 Moving around:
    u    i    o
    j    k    l
    m    ,    .
 
 q/z : increase/decrease max speeds by 10%
 w/x : increase/decrease only linear speed by 10%
 e/c : increase/decrease only angular speed by 10%
 space key, k : stop


If you want to finish, stop the Unity side and then the ROS side.


Unity side(The details may differ from the latest version)
#ref(TurtleBot2TeleopKey.png)

----
''Reference Video'' ~
''Reference Video'' 
#youtube(eAOg7iRCCSs)