Dingo-D
=======

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To operate the robot remotely via PC, you need to setup your network as described in the :doc:`Dingo-D Network <mmp_dingod_network>` section.

.. important::

    Please note that the command mentioned above is for explanatory purposes only. You need not manually execute this command, as the dingo 
    hardware drivers are automatically launched during the robot's startup process. 


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To start the hardware-dingo drivers, please launch:

.. code:: bash

   roslaunch dingo_base base.launch

Ufactory Lite6
==============

To start the hardware-lite6 drivers, please launch:

.. code:: bash

   roslaunch mmp_bringup lite6_driver.launch

This driver does not launch on startup. It is required for controlling the Lite6 arm.

.. warning::

    Non-technical persons are not permitted to use the device as the damage it can 
    cause is severe. 

Realsense D405
==============

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To initiate the hardware driver for the Realsense camera mounted on the wrist of the Xarm6 Lite, execute the following command.

.. code:: bash

   roslaunch mmp_realsense wrist_camera.launch


If the camera drivers operate correctly, you should be able to view the camera stream on RViz by following the instructions outlined
in the "Visualize" section below.

Hokuyo Lidar
============

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You can start up the Hokuyo driver located at the robot's front by employing the command specified below.

.. code:: bash

   roslaunch mmp_lidars lidars.launch 

Once running, you should be able to view the laser scan data created by Hokuyo on RViz by following the instructions outlined
in the **Visualize** section below.

Visualization
=============

To view dingo current state, please launch:

.. code:: bash

    roslaunch mmp_viz view_robot.launch 

This package is useful when checking and integrating depth camera or other auxiliary sensors such as Lidar sensors.

Teleoperation
=============

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

.. code:: bash

    rosrun key_teleop key_teleop.py


.. important::

    Examples of programming the Lite6 and Dingo-D is provided in the ``mmp_bringup/scripts/mmp_example.py``.