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## note =
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## descriptive title for the tutorial
## title = Teleoperating the mobile base with the keyboard
## multi-line description to be displayed in search
## description = How to move the differential drive base of TIAGo using the [[http://wiki.ros.org/key_teleop|key_teleop]] package.
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## keywords = teleoperation, mobile base, key_teleop
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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 <<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

{{attachment:key_teleop_title.jpg||align="right", width="200"}}
<<TableOfContents(2)>>

= Purpose =

This tutorial shows a way to teleoperate the mobile base of TIAGo using the keyboard. This relies on the ROS package [[http://wiki.ros.org/key_teleop|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 [[Robots/TIAGo/Tutorials#Tutorials_Installation|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 world:=simple_office_with_people
 }}}

Gazebo will show up with TIAGo in the following world.

{{attachment:key_teleop_simulation.jpg||align="center", width="600"}}

== 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

{{attachment:key_teleop.jpg||align="center", width="400"}}

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.

{{attachment:key_arrows.jpg||align="center", width="200"}}



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