Operate HSR with Keyboard

Startup Procedure

Start the Ubuntu side and then the Windows side.

Ubuntu Side Startup Procedure

Open a new terminal and run the following command:

ros2 launch sigverse_hsr_teleop_key teleop_key_launch.xml

To start rviz, execute the following command.

ros2 launch sigverse_hsr_teleop_key teleop_key_rviz_launch.xml

Windows Side Startup Procedure

Start the [Assets/SIGVerse/ExampleScenes/HSR/HsrTeleop(.unity)] scene with reference to this page.

• A room will appear when you start. The room is randomly selected from 4 types.

Run

You can control HSR by keyboard operation on the teleop_key.launch terminal.

• Check the terminal for details of the operation.
• Head's Stereo Camera is disabled to reduce communication load.

If you want to finish, stop the Unity side and then the ROS side.

Ubuntu side (teleop_key_rviz.launch)  (It might differ from the latest version)

Windows side  (It might differ from the latest version)

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Reference Video  (It might differ from the latest version)