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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?
Joystick Teleop or return to TurtleBot main page.