physicalai_teleop

A ROS2 package for teleoperating CRANE+ V2 robot.

Features

• Keyboard teleoperation in joint space

Installation

1. Setup Environment

Follow https://github.com/AI-Robot-Book-Humble/docker-ros2-desktop-ai-robot-book-humble to setup the Docker environment Launch CRANE+ V2 manipulator in Gazebo by running

ros2 launch crane_plus_gazebo crane_plus_with_table.launch.py

2. Clone this repository into your ROS2 workspace:

cd ~/pai_ws/src
git clone https://github.com/matsuolab/physicalai_teleop.git

3. Install dependencies

cd ~/pai_ws
rosdep install --from-paths src --ignore-src -r -y

4. Build the package:

colcon build --symlink-install --packages-select physicalai_teleop

5. Source your workspace:

source install/setup.bash

Usage

ros2 run physicalai_teleop teleop_keyboard

Key Mappings

Key	Function
Q/E	Select joint (1-4)
W/S	Increase/Decrease selected joint angle
R/F	Increase/Decrease all joint angles (coarse adjustment)
O	Open gripper
C	Close gripper
X	Reset robot to vertical (all-zero) position
ESC	Quit

The joints are:

• Joint 1: Base rotation
• Joint 2: Shoulder
• Joint 3: Elbow
• Joint 4: Wrist