stretch_tutorials/ros2/teleoperating_stretch.md

## Teleoperating Stretch

!!! note
   Teleoperation support for Stretch in ROS 2 is under active development. Please reach out to us if you want to teleoperate Stretch in ROS 2.

Refer to the instructions below if you want to test this functionality in ROS 1.

### Xbox Controller Teleoperating
If you have not already had a look at the [Xbox Controller Teleoperation](https://docs.hello-robot.com/0.2/stretch-tutorials/getting_started/quick_start_guide_re2/#hello-world-demo) section in the Quick Start guide, now might be a good time to try it.

### Keyboard Teleoperating: Full Body

For full-body teleoperation with the keyboard, you first need to run the `stretch_driver.launch` in a terminal.

```{.bash .shell-prompt}
roslaunch stretch_core stretch_driver.launch
```

Then in a new terminal, type the following command

```{.bash .shell-prompt}
rosrun stretch_core keyboard_teleop
```

Below are the keyboard commands that allow a user to control all of Stretch's joints.

```{.bash .no-copy}
---------- KEYBOARD TELEOP MENU -----------

              i HEAD UP                    
 j HEAD LEFT            l HEAD RIGHT       
              , HEAD DOWN                  


 7 BASE ROTATE LEFT     9 BASE ROTATE RIGHT
 home                   page-up            


              8 LIFT UP                    
              up-arrow                     
 4 BASE FORWARD         6 BASE BACK        
 left-arrow             right-arrow        
              2 LIFT DOWN                  
              down-arrow                   


              w ARM OUT                    
 a WRIST FORWARD        d WRIST BACK       
              x ARM IN                     


              5 GRIPPER CLOSE              
              0 GRIPPER OPEN               

  step size:  b BIG, m MEDIUM, s SMALL     

              q QUIT                       

-------------------------------------------
```

To stop the node from sending twist messages, type **Ctrl** + **c**.

### Keyboard Teleoperating: Mobile Base

Begin by running the following command in your terminal:

```{.bash .shell-prompt}
roslaunch stretch_core stretch_driver.launch
```

To teleoperate a Stretch's mobile base with the keyboard, you first need to switch the mode to *nagivation* for the robot to receive *Twist* messages. This is done using a rosservice call in a new terminal. In the same terminal run the teleop_twist_keyboard node with the argument remapping the *cmd_vel* topic name to *stretch/cmd_vel*.

```{.bash .shell-prompt}
rosservice call /switch_to_navigation_mode
rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=stretch/cmd_vel
```

Below are the keyboard commands that allow a user to move Stretch's base.  

```{.bash .no-copy}
Reading from the keyboard  and Publishing to Twist!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

For Holonomic mode (strafing), hold down the shift key:
---------------------------
   U    I    O
   J    K    L
   M    <    >

t : up (+z)
b : down (-z)

anything else : stop

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%

CTRL-C to quit

currently:	speed 0.5	turn 1.0

```

To stop the node from sending twist messages, type **Ctrl** + **c**.

### Create a node for Mobile Base Teleoperating
To move Stretch's mobile base using a python script, please look at [example 1](example_1.md) for reference.

<!-- ## Teleoperating in Gazebo


### Keyboard Teleoperating
For keyboard teleoperation, first [startup Stretch in simulation](gazebo_basics.md). Then run the following command in a new terminal.

```bash
roslaunch stretch_gazebo gazebo.launch
```

In a new terminal, type the following

```
roslaunch stretch_gazebo teleop_keyboard.launch
```
The same keyboard commands will be presented to a user to move the robot.

### Xbox Controller Teleoperating
An alternative for robot base teleoperation is to use an Xbox controller. Stop the keyboard teleoperation node by typing **Ctrl** + **c** in the terminal where the command was executed. Then connect the Xbox controller device to your local machine and run the following command.

```
roslaunch stretch_gazebo teleop_joy.launch
```
Note that the teleop_twist_joy package has a deadman switch by default which disables the drive commands to be published unless pressed. For a Logitech F310 joystick, this button is A. -->