# Basic Movement \[Melodic]

## Run R1mini

First, run enter the below command in the terminal shell of **MyPC**.

```
$ roscore
```

If running the robot headless, you should be able to access your R1mini via ssh as detailed in "Remote Control" above.

Next, run the below line in the command line of **R1mini**.

```
$ roslaunch omo_r1mini_bringup omo_r1mini_robot.launch
```

![](https://3827101858-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-McPC4jDSGGTd1f6bAav%2F-MdYYqwILyT5VxBZ6mWn%2F-MdYcijOT0tVboLSoUIo%2FScreen%20Shot%202021-07-02%20at%204.53.41%20AM.png?alt=media\&token=2bce40a5-fa1e-4b60-b888-8ebffb52c99a)

Running the above code, your terminal shell should look like this.

## Control R1mini using a keyboard

To control the R1mini using a keyboard, run the below code in a new terminal shell.

```
$ roslaunch omo_r1mini_teleop omo_r1mini_teleop_key.launch
```

![.](https://3827101858-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-McPC4jDSGGTd1f6bAav%2F-MdXrzTdzey2fR9Oeem2%2F-MdXv9jWi_itUCOo6_-s%2FScreen%20Shot%202021-07-02%20at%201.34.59%20AM.png?alt=media\&token=c4fb5b6c-6e97-4d37-b4b8-d12e36da233f)

Running the above code, your terminal shell should display the above instructions. These are instructions to control your R1mini with a keyboard

## Debugging Tools

#### Checking rostopic

Viewing rostopics are one way to debug in ROS. A topic in ROS can simply be thought of as a specific channel of data to which ros nodes (think specific functions for roles like motor control or keyboard input) can publish or subscribe to. Displaying rostopics easily help us see what functions are running.

Run the below command to see a full list of currently-running rostopics.

```
rostopic list
```

![](https://3827101858-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-McPC4jDSGGTd1f6bAav%2F-MdYf7hhXw7_WN4-1hqx%2F-MdYfnyoEQNCCd2EkEcv%2FScreen%20Shot%202021-07-02%20at%205.07.34%20AM.png?alt=media\&token=f342f698-820c-493a-8900-da2961c6ddad)

For more detailed information, you can enter the below line to the command line.

```
rostopic list -v
```

![](https://3827101858-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-McPC4jDSGGTd1f6bAav%2F-MdYf7hhXw7_WN4-1hqx%2F-MdYfcWgC1knuI-KmdgJ%2FScreen%20Shot%202021-07-02%20at%205.06.17%20AM.png?alt=media\&token=7200221b-562f-46c5-9624-e015bdf9b78c)

#### Viewing rqt\_graph

An rqt\_graph is used to visualize active relationships between ros nodes and ros topics.

```
rqt_graph
```

![rqt\_graph](https://3827101858-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-McPC4jDSGGTd1f6bAav%2F-MdYfvCVg7R0-YiOlfGF%2F-MdYi7axPHkqD_H3bvMQ%2FScreenshot%20from%202021-04-07%2015-48-06.png?alt=media\&token=e3a32e57-c027-40f5-a9b7-f68de024b468)

Here is one example of an rqt\_graph GUI. Ovals represent ros nodes and the arrows connecting ros nodes are ros topics.

## Video Demonstration

To watch a video demonstration for this page, visit this link: [https://www.youtube.com/watch?v=HQQnUkWvWbs](https://www.youtube.com/watch?v=HQQnUkWvWbs)

