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。

---------------------------
  Control Your OpenMANIPULATOR-X!
  ---------------------------
  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
  ---------------------------
  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
  ---------------------------