###### tags: `ROSKY2` `ROS2` `Jetson Nano` `reComputer-J1010` `teleop twist`
# CH 2: ROSKY2 - Keyboard teleop

In this note, user will use keyboard teleop for ROSKY2.

## Hardware user have to prepare before doing...

1. [ROSKY2](https://www.icshop.com.tw/product-page.php?28598)
2. A host machine with the operating system is Window 10(above) or Ubuntu.

---

## Some things user should know before operating...

Please finished the notes below:
- [CH 1. ROSKY2 - remotely log in](https://hackmd.io/@weichih-lin/ROSKY2_log_in_remotely)

Now let’s go ahead to use keyboard teleop for ROSKY2.

---

## Step 1. Open Terminator in ROSKY2 through remote desktop

### Step 1-1. Open terminal on the remote desktop

Because of the keyboard shortcut keys in NoMachine, user can not use the keyboard keys 【ctrl】+【alt】+【T】to open the terminal quickly.

Please right-click the mouse on the remote desktop to open the menu item and then choose【Open Terminal】to open terminal.

Once user see the roe_menu is shown on the terminal, please choose【2】to start the operating environment for ROSKY2.


### Step 1-2. Open terminator on the remote desktop

Terminator is a nice terminal emulator, please check the [Terminator’s documentation](https://terminator-gtk3.readthedocs.io/en/latest/) to know more detail.

User can type the command command to start terminator:

$ terminator

Once start the terminator successfully, user can see ros_menu is shown on the terminator. Like the operation in [step 1-1](#Step-1-1-Open-terminal-on-the-remote-desktop), user have to choose [2] to start the environment for ROSKY2.


More keyboard shortcut in the terminator user can find on the [Terminator’s documentation - Using the keyboard](https://terminator-gtk3.readthedocs.io/en/latest/gettingstarted.html#using-the-keyboard).

## Step 2. Start the communication with all sensors, motor control board and more on ROSKY2

Now user just running the system on the SBC and it can not send/receive data from sensor and more. Hence, user have to start the communication with these to send/receive data.

> **Note**
> Seneors on ROSKY2 will start running after typing the command below. Please make sure **no more things** result in stopping these sensor work, such as **something is on the LiDAR**, **transfer cable connect between host machine and ROSKY2** and more.

Please type the command below in the terminator to start the communication:

$ ros2 launch rosky2_bringup bringup.launch.py


## Step 3. Use node "teleop_twist_keyboard" for ROSKY2

Awesome! User start the communication between ROSKY2 and sensors. Before doing anything, user have to make sure:

> **Note**
> **PUT ROSKY2 ON THE GROUND.**

ROSKY2 may fall from high place if user do not put ROSKY2 on the ground. The most important thing than everyone: make sure that ROSKY2 is safe.

From [Step 1-2 in this note](#Step-1-2-Open-terminator-on-the-remote-desktop), user can know that use the keyboard shortcut 【ctrl】+【shift】+【E】 in terminator to split terminal vertically. The same thing is choosing 【2】 to start the environment for ROSKY2 after user opening ros_menu successfully.


Now is ready to use keyboard teleop for ROSKY2. Please type the command below to run the node "teleop_twist_keyboard":

$ ros2 run teleop_twist_keyboard teleop_twist_keyboard


Base on the information shown on the terminal, user can press the keyboard key to control ROSKY2. Please feel free to adjust the velocity and check what happen to ROSKY2.

## Step 4. Shutdown all running node.

If user finished the keyboard teleop for ROSKY2, please remember to shutdown all running node through the shortcut key 【ctrl】+【C】 in terminal.

## Next

User can continue the note -> [CH3: detect distance](https://hackmd.io/@weichih-lin/ROSKY2_detect_distance)

Please have fun to use ROSKY2 :)