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Description: turtlebotのキーボード・テレオペレーション

Keywords: keyboard teleop

Tutorial Level: BEGINNER

Next Tutorial: Joystick Teleop

ここでは, このチュートリアルの中で既に起動済みの!Turtlebotがあることを前提としています. もし, TurtleBotをまだ起動していなければ, TurtleBot Bringup を参照してください.


TurtleBotにSSH接続し, keyboard teleop のノードを立ち上げます.

To ssh in to a TurtleBot from a workstation computer:

  • determine the IP_OF_TURTLEBOT by using ifconfig (Need more help)

    To determine a computer's IP address and network interface in linux:

    • ifconfig

    You will see something like:

    • lo        Link encap:Local Loopback  
                inet addr:  Mask:
                inet6 addr: ::1/128 Scope:Host
                UP LOOPBACK RUNNING  MTU:16436  Metric:1
                RX packets:6658055 errors:0 dropped:0 overruns:0 frame:0
                TX packets:6658055 errors:0 dropped:0 overruns:0 carrier:0
                collisions:0 txqueuelen:0 
                RX bytes:587372914 (587.3 MB)  TX bytes:587372914 (587.3 MB)
      wlan1     Link encap:Ethernet  HWaddr 48:5d:60:75:58:90  
                inet addr:  Bcast:  Mask:
                inet6 addr: fe80::4a5d:60ff:fe75:5890/64 Scope:Link
                UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
                RX packets:101983 errors:0 dropped:0 overruns:0 frame:0
                TX packets:37244 errors:0 dropped:0 overruns:0 carrier:0
                collisions:0 txqueuelen:1000 
                RX bytes:49326141 (49.3 MB)  TX bytes:7588044 (7.5 MB)
    • the network interface for the wireless card is wlan1

    • the IP address of the computer is

  • use ssh to connect to the TurtleBot

    ssh turtlebot@IP_OF_TURTLEBOT

roslaunch turtlebot_teleop keyboard_teleop.launch



Wiki: ja/turtlebot_teleop/Tutorials/Keyboard Teleop (last edited 2013-08-27 15:19:07 by YoshimaruTanaka)