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Keyboard Teleop

Description: Keyboard teleoperation of a turtlebot.

Keywords: keyboard teleop

Tutorial Level: BEGINNER

Next Tutorial: Joystick Teleop

This assumes that you have a TurtleBot which has already been brought up in this tutorial. See TurtleBot Bringup if you have not brought up the TurtleBot.

On the TurtleBot

Now ssh (ssh help) into the turtlebot and start the keyboard teleop nodes

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

Key presses in this terminal can now be used to control the robot.

What Next?


2019-12-07 13:14