From 25e38717c3a58013de0742c98c3a1c2171756186 Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Tue, 14 Jun 2022 11:33:02 -0700 Subject: [PATCH] Fixed typos and mae minor format edits to file. --- teleoperating_stretch.md | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/teleoperating_stretch.md b/teleoperating_stretch.md index d736bfb..1172833 100644 --- a/teleoperating_stretch.md +++ b/teleoperating_stretch.md @@ -30,18 +30,19 @@ If you're done, hold down the Shutdown PC button for 2 seconds. This will cause ### Keyboard Teleoperating -To teleoperate a Stretch's **mobile base** with the keyboard, you first need to set the ros parameter to *navigation* mode in order for the robot to receive *Twist* messages. Begin by running `roscore` in a terminal. Then in a new terminal, type the following commands +To teleoperate a Stretch's mobile base with the keyboard, you first need to set the ros parameter to *navigation* mode for the robot to receive *Twist* messages. Begin by running `roscore` in a terminal. Then in a new terminal, type the following commands -```bash +``` rosparam set /stretch_driver/mode "navigation" roslaunch stretch_core stretch_driver.launch ``` The first line will set the stretch driver mode to *navigation* before running the `stretch_driver.launch` file. Then in a new terminal launch the teleop_twist_keyboard node with the argument remapping the *cmd_vel* topic name to *stretch/cmd_vel*. -```bash +``` 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. ``` Reading from the keyboard and Publishing to Twist! @@ -89,7 +90,7 @@ roslaunch stretch_gazebo gazebo.launch In a new terminal, type the following -```bash +``` roslaunch stretch_gazebo teleop_keyboard.launch ``` The same keyboard commands will be presented to a user to move the robot. @@ -97,7 +98,7 @@ 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. -```bash +``` 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.