Teleoperation instructions:

Keyboard control

With GUI

For keyboard robot control with GUI you might need to install pygame library. If it already installed you can skip this step

pip install pygame

If pygame already was installed or was installed on the previous step, run:

python ~/plato_ws/src/plato/plato_control/src/control_keyboard_gui.py

Without gui

For keyboard robot control without GUI you might need to install pynput library. If it already installed you can skip this step

pip install pynput

If pygame already was installed or was installed on the previous step, run:

python ~/plato_ws/src/plato/plato_control/src/control_keyboard.py

If everything works correct one can control the robot using gui or using keyboard

-------------	-------------	-------------
Q(speed down)	W (forward)	E(speed up)
A (left)	S (backward)	D(right)
Z(angular speed down)	X(angular speed up)

Joypad control

Voice control

Install speech recognition library for python

pip install SpeechRecognition

Run speech control script

python ~/plato_ws/src/plato/plato_control/src/control_voice.py