From 2da5bf9fc763224b757185ad98825ed299164537 Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Tue, 9 Aug 2022 13:43:29 -0700 Subject: [PATCH] Changed Teleoperation command lines. --- teleoperating_stretch.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/teleoperating_stretch.md b/teleoperating_stretch.md index 097ef2d..be93f6d 100644 --- a/teleoperating_stretch.md +++ b/teleoperating_stretch.md @@ -150,7 +150,7 @@ In a new terminal, type the following ```bash # 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. @@ -159,7 +159,7 @@ An alternative for robot base teleoperation is to use an Xbox controller. Stop t ```bash # 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.