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Changed Teleoperation command lines.

noetic
Alan G. Sanchez 2 years ago
parent
7c751544e3
commit
2da5bf9fc7
1 changed files with 2 additions and 2 deletions
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      teleoperating_stretch.md

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teleoperating_stretch.md View File

@ -150,7 +150,7 @@ In a new terminal, type the following
```bash ```bash
# Terminal 2 # Terminal 2
roslaunch stretch_gazebo teleop_keyboard.launch
roslaunch stretch_core teleop_twist.launch twist_topic:=/stretch_diff_drive_controller/cmd_vel linear:=1.0 angular:=2.0 teleop_type:=keyboard # or use teleop_type:=joystick if you have a controller
``` ```
The same keyboard commands will be presented to a user to move the robot. The same keyboard commands will be presented to a user to move the robot.
@ -159,7 +159,7 @@ An alternative for robot base teleoperation is to use an Xbox controller. Stop t
```bash ```bash
# Terminal 2 # Terminal 2
roslaunch stretch_gazebo teleop_joy.launch
roslaunch stretch_core teleop_twist.launch twist_topic:=/stretch_diff_drive_controller/cmd_vel linear:=1.0 angular:=2.0 teleop_type:=joystick
``` ```
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. 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.

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