.. rubric:: Command Line Interface

To teleoperate the H1, run the following command in one of the SSH sessions:

.. code-block:: bash

   ROS_DOMAIN_ID=10 ros2 run teleop_twist_keyboard teleop_twist_keyboard

.. rubric:: Steamdeck Integration

.. important::

   The Lidar data and camera stream are dependent on the DDS configuration and the WiFi dongle being used.

**Setup Instructions:**

1. Before launching the H1 bringup, run the following command on the H1:

   .. code-block:: bash

      ros2_wifi

2. Launch the system:

   .. code-block:: bash

      ros2 launch h1_bringup system.launch.py

3. Click on the joystick controller icon on the Steamdeck to access controls.

**Controls:**

*Leg Control:*

 - Slow Movement: `L1` + Left Joystick
 - Right Movement: `R1` + Left Joystick

*Arm Control:*

 - To be announced (TBA). This can be modified using the `h1_steamdeck libjoy`.