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[[Tutorial using ROS for ver.3]]

* Operate PR2 with keyboard [#pr2_key_teleop]

** Startup procedure [#s3935d29]

Start the Ubuntu side and then the Windows side.

*** Ubuntu side startup procedure [#q2116c4c]

Open a new terminal and run the following command:
 $ roslaunch sigverse_pr2_teleop_key teleop_key.launch

To start rviz, execute the following command.
 $ roslaunch sigverse_pr2_teleop_key teleop_key_with_rviz.launch


*** Windows side startup procedure [#x1228a56]

Start the [Assets/SIGVerse/ExampleScenes/PR2/Pr2Teleop(.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 [#e45add52]

You can control PR2 by keyboard operation on the 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 (teleop_key_with_rviz.launch)
Ubuntu side (teleop_key_with_rviz.launch) (The details may differ from the latest version)
#ref(PR2TeleopKeyUbuntu.png)

Windows side
Windows side (The details may differ from the latest version)
#ref(PR2TeleopKeyWindows.png)


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''Reference Video'' ~
''Reference Video'' 
#youtube(ZrQ_4lTEtC8)

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#counter