Operation
=========

.. image:: media/figures/rovo.png 
      :width: 100%
      :align: center
      :class: mbsrounded

|

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


.. important::

    Please note that some Rovo 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. 

Real-Rovo
=========

To start the real-rovo drivers, please launch:

**ROS-NOETIC**

.. code:: bash
   
   roslaunch rovo_bringup system_bringup.launch

**ROS-FOXY**

.. code:: bash

   ros2 launch rovo_bringup bringup.launch.py

.. warning::

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

Simulated-Rovo
==============

To start the simulated drivers, please launch:

**ROS-NOETIC**

.. code:: bash

    roslaunch rovo_simulator gazebo_world.launch

Visualize-Rovo
==============

To view rovo current state, please launch:

**ROS-NOETIC**

.. code:: bash

   roslaunch rovo_viz view_robot.launch

**ROS-FOXY**

.. code:: bash

   ros2 launch rovo_viz view_robot.launch.py

Rovo Teleop
===========

.. important::

    The Rovo has to be switched to gear before control, to switch the gear please see :ref:`RST ROVO_CONTROL`.

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

**ROS-NOETIC**

.. code:: bash

   rosrun teleop_twist_keyboard teleop_twist_keyboard.py

**ROS-FOXY**

.. code:: bash

   ros2 run teleop_twist_keyboard teleop_twist_keyboard

.. warning::

    Please ensure the vicinity near the Rovo is clear when operational as it can cause severe damage.