Author: Jordi Pages < jordi.pages@pal-robotics.com >

Maintainer: Jordi Pages < jordi.pages@pal-robotics.com >

Support: tiago-support@pal-robotics.com

Source: https://github.com/pal-robotics/tiago_tutorials.git

(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Teleoperating the mobile base with the keyboard

Description: How to move the differential drive base of TIAGo using the key_teleop package.

Keywords: teleoperation, mobile base, key_teleop

Tutorial Level: BEGINNER

Next Tutorial: Move the base through velocity commands

key_teleop_title.jpg

Purpose

This tutorial shows a way to teleoperate the mobile base of TIAGo using the keyboard. This relies on the ROS package key_teleop which is compatible with most of ROS enabled robots.

Pre-requisites

First make sure that the tutorials are properly installed along with the TIAGo simulation, as shown in the Tutorials Installation Section.

Execution

First open two consoles and source the public simulation workspace as follows:

  • $ cd ~/tiago_public_ws
    $ source ./devel/setup.bash

Launching the simulation

In the first console launch for example the following simulation

  • roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true robot:=titanium world:=simple_office_with_people

Gazebo will show up with TIAGo in the following world.

key_teleop_simulation.jpg

Running key_teleop

In the second console run key_teleop as follows

  • rosrun key_teleop key_teleop.py

which will transform the appearance of the console into this

key_teleop.jpg

Now pressing the up and down arrows will make the robot go forward and backward respectively. Left and right arrows will cause the robot to turn about itself in the corresponding directions.

key_arrows.jpg

Wiki: Robots/TIAGo/Tutorials/motions/key_teleop (last edited 2016-10-20 21:05:14 by Jordi Pages)