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Direct Teleop Usage

ROS2 Integration​

If you want to try it out with ROS2, you can also run Teleop Tongs with simulation or a real robot with Giraffe.

Follow the instructions from Giraffe repository to set up your robot.

  • Clone this ros2 branch of the Teleop Tongs repository if you want to use ros2_control or raw_ros2 if you want to use topics. 
    git clone https://github.com/carpit680/teleop_tongs.git -b ros2 # for ros2_control based communication to giraffe_driver with simulation or robot hardware.
    # OR
    git clone https://github.com/carpit680/teleop_tongs.git -b raw_ros2 # for topics based direct communication to giraffe_driver with only robot hardware.
  • Run Giraffe simulation or a real robot depending on the branch you chose above.
  • Run python3 dex_teleop.py to start Teleop Tongs.