Grasping Using the Keyboard

TurtleBot3 has OpenManipulator.

Please refer here for the specifications of Open Manipulator.
Please refer here for camera specifications.

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_turtlebot3 teleop_key_launch.xml

Windows Side Startup Procedure

Start the [Assets/SIGVerse/ExampleScenes/Turtlebot3/OpenManipulator(.unity)] scene with reference to this page.

Run

You can control TurtleBot3 by keyboard operation on the grasping_teleop_key.launch terminal.

• Check the terminal for details of the operation.
• Because of the high image processing load, the robot's camera image transmission interval is set to 1000 [ms].
  (If you want to shorten the sending interval, please reduce the Sending Interval of the ZEDMiniPubCameraImageController attached to turtlebot3_with_open_manipulator/RosBridgeScripts)

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

Ubuntu side  (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)