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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 (ssh help) , 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

これで、このターミナル内でのキー押下は、ロボットをコントロールするために使うことが出来ます。

次は?

Wiki: ja/turtlebot_teleop/Tutorials/hydro/Keyboard Teleop (last edited 2014-09-28 07:58:35 by Moirai)