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Running

rosrun pr2_keyboard_teleoperator  pr2_keyboard_teleoperator.py

Usage

The keyboard interface is as follows:

PR2_Keyboard_Interface.png

Moving the Base: (uses the number pad)

  7      8      9
  4      5      6
  1      2      3

Moving the Arm's Joints:

  • Shoulder pan joint: e/d
  • Shoulder lift joint: r/f
  • Upper arm roll joint: t/g
  • Elbow flex joint: y/h
  • Forearm roll joint: u/j
  • Wrist flex joint: i/k
  • Wrist roll joint: o/l

Moving The Head:

  • Panning: v/b
  • Tilting: n/m

Moving The Torso:

  • Lower/Raise: ,/.

Using the gripper:

  • Open/Close (current arm): c

Parameters:

  • Switching between arms: z/x
  • Increasing/Decreasing delta (in radians): q/a

Wiki: pr2_keyboard_teleoperator (last edited 2011-05-06 00:21:21 by TrevorJay)