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

B1 Visualization

To launch the b1_viz:

roslaunch b1_viz view_robot.launch

Quick-Start Teleop

To tele-operate:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/b1/cmd_vel