# 9.2. 執行 Teleoperation node 遙控節點

**\[Remote PC 端]**：打開一個新的 terminal 終端機視窗並運行 teleoperation node 節點。以下指令允許使用者控制機器人來手動執行 SLAM 操作。避免機器人做出劇烈的運動很重要，比如速度變化太快或旋轉太快。使用機器人製作地圖時，機器人應掃描要測量環境的每個角落。它需要一些經驗來建立一個乾淨的地圖，所以我們需要多次練習 SLAM 以學習建圖技巧。 建圖過程如下圖所示。

```
$ export TURTLEBOT3_MODEL=%{TB3_MODEL}
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
```

```
  Control Your TurtleBot3!
  ---------------------------
  Moving around:
          w
     a    s    d
          x

  w/x : increase/decrease linear velocity
  a/d : increase/decrease angular velocity
  space key, s : force stop

  CTRL-C to quit
```

![](/files/-Lkx52zwhsjWvVvdAffI)


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