7.2.1. 鍵盤
TIP: Ubuntu 的 Terminal (終端機)可以在螢幕左上方的 Search 圖示找到. 快捷鍵可以使用 Ctrl-Alt-T.
啟動 open_manipulator_teleop_keyboard 節點,使用鍵盤來進行簡單的遙控測試。
$ roslaunch open_manipulator_teleop open_manipulator_teleop_keyboard.launch
如果節點成功啟動,則終端窗口中將顯示以下指令。
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Control Your OpenMANIPULATOR-X!
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w : increase x axis in task space
s : decrease x axis in task space
a : increase y axis in task space
d : decrease y axis in task space
z : increase z axis in task space
x : decrease z axis in task space
y : increase joint 1 angle
h : decrease joint 1 angle
u : increase joint 2 angle
j : decrease joint 2 angle
i : increase joint 3 angle
k : decrease joint 3 angle
o : increase joint 4 angle
l : decrease joint 4 angle
g : gripper open
f : gripper close
1 : init pose
2 : home pose
q to quit
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Present Joint Angle J1: 0.000 J2: 0.000 J3: 0.000 J4: 0.000
Present Kinematics Position X: 0.000 Y: 0.000 Z: 0.000
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