[[Tutorial using ROS for ver.3]]

* Operate TIAGo with keyboard [#tiago_key_teleop]

** Startup Procedure [#z5d18e23]

Start the Ubuntu side and then the Windows side.

*** Ubuntu side startup procedure [#s080728f]

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

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

*** Windows startup procedure [#t7aa5b02]

Start the [Assets/SIGVerse/ExampleScenes/TIAGo/TIAGoTeleop(.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 [#cdb2e45d]

You can control TIAGo 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)

Windows side
Windows side (The details may differ from the latest version)

//''Reference Video'' ~
''Reference Video'' 


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