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[[Tutorial using ROS for ver.3]]


* Operate HSR with keyboard [#hsr_key_teleop]

** Startup Procedure [#fcf5a534]

Start the Ubuntu side and then the Windows side.

*** Ubuntu side startup procedure [#z6b04916]

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

To start rviz, execute the following command.
 $ roslaunch sigverse_hsr_teleop_key teleop_key_with_rviz.launch


*** Windows startup procedure [#a6bf004c]

Start the [Assets/SIGVerse/ExampleScenes/HSR/HsrTeleop(.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 [#a525469e]

You can control HSR by keyboard operation on the teleop_key.launch terminal.

~* Check the terminal for details of the operation.
~* Head's Stereo Camera is disabled to reduce communication load. 

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(HSRTeleopKeyUbuntu.png)

Windows side
Windows side (The details may differ from the latest version)
#ref(HSRTeleopKeyWindows.png)


''Reference Video'' ~
''Reference Video'' 
#youtube(MMBuCuHP4zk)

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