Operation
=========

To operate the robot remotely via PC, you need to setup your network as described in the :ref:`RST diablo network`  section.

.. :doc:`Diablo Network <diablo_network>`

.. important::

    Please note that some Diablo may not have the latest drivers and have the old structure layout. In those cases where the instrcutions 
    are not clear please contact support@mybotshop.de. 

Diablo Driver
==============

To start the hardware-diablo drivers, ssh into diablo and  launch:

.. code:: bash

   ros2 run diablo_ctrl diablo_ctrl_node

Next in your own PC you can launch:

.. code:: bash

   ros2 launch diablo_bringup bringup.launch.py

Visualize
=========

This turned on by bringup, alternatively you can launch please launch:

.. code:: bash

    ros2 launch diablo_viz view_robot.launch

Teleop
======

To operate the Diablo either in simulation or the real robot, the following command may be used:

.. code:: bash

    ros2 run teleop_twist_keyboard teleop_twist_keyboard

Odom Navigation
===============

Launch

.. code:: bash

    ros2 launch diablo_navigation odom_navi.launch.py


Change rviz frame to `map` and provide goal.