Running

rosrun pr2_keyboard_teleoperator  pr2_keyboard_teleoperator.py

Usage

The keyboard interface is as follows:

Moving the Base: (uses the number pad)

  7      8      9
  4      5      6
  1      2      3

Moving the Arm's Joints:

• Shoulder pan joint: e/d
• Shoulder lift joint: r/f
• Upper arm roll joint: t/g
• Elbow flex joint: y/h
• Forearm roll joint: u/j
• Wrist flex joint: i/k
• Wrist roll joint: o/l

Moving The Head:

• Panning: v/b
• Tilting: n/m

Moving The Torso:

• Lower/Raise: ,/.

Using the gripper:

• Open/Close (current arm): c

Parameters:

• Switching between arms: z/x
• Increasing/Decreasing delta (in radians): q/a