In this section, we are going to replace the keyboard teleoperation with Leap Motion-based teleoperation. When we roll our hand in the anticlockwise direction, the robot also rotates anticlockwise, and vice versa. If we pitch our hand down, the robot will move forward, and if we pitch it up, it will move backward. So, we can start the VR application and TurtleBot simulation like in the previous section, and, instead of the keyboard teleoperation, run the Leap Motion teleoperation node.

So, before starting the Leap Motion teleoperation node:

1. Launch the PC driver and ROS driver using the following commands:

$ sudo LeapControlPanel

2. Start the ROS driver using the following command:

$ roslaunch leap_motion sensor_sender.launch  

3. Launch Leap Motion on the Twist node using the following command:

$ rosrun vr_leap_teleop vr_leap_teleop.py  

You can now put the VR headset on your head and control the robot using your hand.