Teleoperating the mobile base with the keyboard

Purpose

This tutorial shows a way to teleoperate the mobile base of TIAGo using the keyboard. This relies on the ROS2 package teleop_twist_keyboard which is compatible with most of ROS2 enabled robots.

Pre-Requisites

First make sure that the tutorials are properly installed along with the tiago simulation, as shown in the tutorials installation section.

Execution

First of all open two consoles and source ros setup

source /opt/ros/foxy/setup.bash

In the first console launch the TIAGo gazebo simulation simulation

ros2 launch tiago_gazebo tiago_gazebo.launch.py --ros-args --remap world_name:=simple_office_with_people

This will launch a gazebo empty world with a TIAGo.

In the second console launch the keyboard teleoperation node

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=key_vel

Now you can navigate the robot to correct the position error.