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TeleoperationDescription: Robot teleoperation from a joystick or a keyboard
Tutorial Level: INTERMEDIATE
Next Tutorial: Remote monitoring and control
To run the joystick teleop simply add to the robot launch file joystick:=true.
$ roslaunch armadillo2 armadillo2.launch gazebo:=true teleop:=true
This command will run the armadillo simulation, and also run the joystick teleop.
By default, the joystick device is /dev/input/js0 but you can select different devices using the joy_dev argument. For example:
$ roslaunch armadillo2 armadillo2.launch gazebo:=true teleop:=true joy_dev:=/dev/input/js1
To use the joystick to steer the robot, use the right stick.
To use the keyboard for teleoperation, use the rqt_robot_steering tool.