[[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>https://www.stereolabs.com/zed-mini/]] 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. ~* Because of the high image processing load, the robot's camera image transmission interval is set to 1000 [ms]. ~ (If you want to shorten the sending interval, please reduce the Sending Interval of the ZEDMiniPubCameraImageController attached to turtlebot3_with_open_manipulator/RosBridgeScripts) If you want to finish, stop the Unity side and then the ROS side. Ubuntu side (The details may differ from the latest version) #ref(TurtleBot3GraspTeleopUbuntu.png) Windows side (The details may differ from the latest version) #ref(TurtleBot3GraspTeleopWindows.png) ---- ''Reference Video'' #youtube(D2m6CGQXjwI)