Once you are connected to the B1 via LAN or 5G and have completed Pre-requisite System section you can begin operating the B1.
B1 High-level Driver¶
In high level mode the robot can walk. To start the driver please run:
sudo su source ~/catkin_ws/devel/setup.bash roslaunch b1_base base.launch
To launch the b1_viz:
roslaunch b1_viz view_robot.launch
rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/b1/cmd_vel