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キーボード・テレオペ
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上での作業
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:127.0.0.1 Mask:255.0.0.0 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:10.0.129.17 Bcast:10.0.129.255 Mask:255.255.254.0 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 10.0.129.17
use ssh to connect to the TurtleBot
ssh turtlebot@IP_OF_TURTLEBOT
roslaunch turtlebot_teleop keyboard_teleop.launch
この端末内でのキー押下はロボットをコントロールするのに使用されます.
次に.
ジョイスティック・テレオペ または, TurtleBotのメインページ に戻る.
