Teleoperation

• Place the Follower in a spacious area.
• Wear the Leader device.

How to wear the Leader :

1. Put both arms through the Leader's shoulder straps.
2. Fasten the chest belt buckle and hip belt buckle.
3. Adjust the length of the shoulder straps, chest belt, and hip belt so that the Leader is securely fixed on your back.
4. Face the red sticker attached to the Leader to set the initial position.

Running Teleoperation

1. Open a new terminal and run the following command:

• To start teleoperation, run the launch file:

  ros2 launch ffw_bringup ffw_teleop_with_rh.launch.py

  or

  bringup

• If you want to run the Leader and Follower separately in different terminals:

  1. To launch the teleoperation Leader:

     ros2 launch ffw_bringup hardware_leader_with_rh.launch.py

     or

     leader

  2. To launch the teleoperation Follower:

     ros2 launch ffw_bringup hardware_follower_with_rh.launch.py

     or

     follower