From 3fd8a80187e267814d8118436da9badba64d899e Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Thu, 5 Aug 2021 17:09:40 -0700 Subject: [PATCH] Update file. --- teleoperating_stretch.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/teleoperating_stretch.md b/teleoperating_stretch.md index e729d94..6060f1e 100644 --- a/teleoperating_stretch.md +++ b/teleoperating_stretch.md @@ -1,6 +1,6 @@ ## Teleoperating in Gazebo -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. ``` roslaunch stretch_gazebo teleop_joy.launch