First, [startup Stretch in simulation](gazebo_basics.md). Then type the following the command for teleoperating a Stretch robot's mobile base with the keyboard.
First, [startup Stretch in simulation](gazebo_basics.md). Then in a separate terminal type the following the command for teleoperating a Stretch robot's mobile base with the keyboard.
```
roslaunch stretch_gazebo teleop_keyboard.launch
@ -37,7 +37,7 @@ currently: speed 0.5 turn 1.0
The keyboard teleop node remaps the *cmd_vel* topics to */stretch_diff_drive_controller/cmd_vel*, which the robot takes velocity commands from.
An alternative for robot base teleoperation is to use an xbox controller. Connect the xbox controller device to your local machine either through cable or dongle and run the following command.
An alternative for robot base teleoperation is to use an Xbox controller. Start by stopping 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 through cable or dongle and run the following command.
Alan G. Sanchez
3 years ago