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## title = Robot manipulation
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## description = How to move and delete robots in the environment, using command-line tools
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<<TableOfContents(4)>>

=== Using robot_handler to add, delete and move a robot ===
Assuming you have a `stdr_server_node` running, with a map loaded from previous tutorial, we are going to add a robot using command-line tool `robot_handler`. More detailed documentation about `robot_handler` [[stdr_robot#robot_handler|here]].

==== Adding a robot ====
We will add a new robot to x=9, y=7, theta=1.57.
In a new terminal, run:
{{{
$ roscd stdr_resources
$ rosrun stdr_robot robot_handler add resources/robots/pandora_robot.yaml 9 7 1.57
}}}

==== Launching STDR GUI, to visualize ====

In a new terminal, run:
{{{
$ roslaunch stdr_gui stdr_gui.launch
}}}

You should see something like this:

{{attachment:gui_launch.png|gui_launch|width=760}} 

==== Moving the robot to a new pose ====

We will move the robot to x=2, y=2, theta=0. Run:
{{{
$ rosrun stdr_robot robot_handler replace /robot0 2 2 0
}}}

You should see that the robot moved successfully in the desired pose:

{{attachment:gui_replace.png|gui_replace|width=760}}

==== Deleting a robot ====

We are going to delete the robot with name `/robot0`. Run:

{{{
$ rosrun stdr_robot robot_handler delete /robot0
}}}

To learn how to manipulate a robot using the STDR GUI, follow [[stdr_simulator/Tutorials/Basic GUI usage#Load_a_robot_in_a_map|this]] tutorial.
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