Quick-Start
===========
.. image:: media/figures/bz1.png
   :width: 100%
   :align: center

Once you are connected to the BZ1 via LAN or 5G and have completed :doc:`Pre-requisite Software <dependency>` section
you can begin operating the BZ1.

BZ1 Driver
----------

To start the BZ1 whole body moveit driver please run:

.. code:: bash

   roslaunch bz1_gripper_moveit_config real_bz1_moveit.launch 

.. important::

   Requires the Z1 to be disabled from remote startup. Instructions are at :ref:`Z1 Disabled`


Quick-Start Teleop
------------------

To tele-operate the B1:

.. code-block:: bash

   rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/cmd_vel