Launch keyboard teleoperation node
Use your keyboard to manually control the robot via evdev_teleop.
Use keyboard controls to manually drive your robot. Before launching keyboard teleoperation, ensure the following prerequisites are met:
Prerequisites:
- Fast DDS discovery server is running on your host computer
- Robot is powered on and Teensy is flashed with the latest firmware
- Network connectivity is established between host and robot
- micro‑ROS agent is running and connected to the Teensy
- Environment variables (ROS_NAME, ROS_NAMESPACE) are configured correctly
Optional: Monitor Teensy debug output:
Open a separate terminal to view firmware debug messages from the Teensy:
SERIAL_NUM=$(find /dev/serial/by-id/ -name "usb-Teensyduino*if01" | head -1 | sed 's/.*_Dual_Serial_\(.*\)-if01/\1/')
python3 -m serial.tools.miniterm /dev/serial/by-id/usb-Teensyduino_Dual_Serial_${SERIAL_NUM}-if01 115200
Note: Use if01 for debug output, not if00 (which is used by the micro‑ROS agent). Press Ctrl+] then q to exit miniterm.
bash
cd ~/repos/common_platform/common_platform_ws
source install/setup.bash
ros2 launch evdev_teleop evdev_teleop.launch.py