Controlling the robot from the terminal

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Setting up the teleop_twist_keyboard

You can move the robot arm from a ternimal using teleop_twist_keyboard. To install it,

$ sudo apt-get update
$ sudo apt-get install ros-humble-teleop-twist-keyboard

Controlling the robot

Open a new terminal and source:

$ cd /home/<user name>/ismr24_ws
$ source /opt/ros/humble/setup.bash
$ source install/setup.bash

Then runteleop_twist_keyboard:

ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=/spacenav/twist

Now you can move the end-effector by pressing the keys (see the screen for instruction).