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<<TableOfContents(4)>>

This tutorial assumes you have a real Roch, also you can run [[roch_simulator|simulator with Roch]].

In this section, we mainly discuss about teleoperation with different wheeled.

[[roch_teleop]] reference to [[turtlebot_teleop]], and provides launch files for difference ways to control [[Robots/Roch|Roch]].

 * On your PC, connect Roch using ssh:
 {{{
ssh ubuntu@192.168.1.100
}}}

 * Bring up Roch:
 {{{
roslaunch roch_bringup minimal.launch
}}}

== Keyboard control ==

 * Using keyboard control Roch:
 {{{
roslaunch roch_teleop keyboard_teleop.launch
}}}

== Ps3 joystick control ==

 * Using ps3 joystick control Roch:
 {{{
roslaunch roch_teleop ps3_teleop.launch
}}}

== Xbox360 control ==

 * Using Xbox360 control Roch:
 {{{
roslaunch roch_teleop xbox360_teleop.launch
}}}
'''''note''''': When you use xbox360 control Roch, at first you should press ''LB'' key, then use the direction key.
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