Hi Enea:

Thank you for you suggestions. I do think it is more convenient to use the
p2os node for this task. In fact, I have it already installed, however I
kept using ROSARIA since I couldn't run the launch file in p2os package that
is supposed to make keyboard teleoperation. I tried using teleop_base node
and didn't work either (it did with ROSARIA). I know there is the posibility
of operating the robot with a joystick but I have none :(.

I wanted to know if you teleoperate your robot using your keyboard and if
you do, would yo give me any suggestions to make it work with my pioneer?

I also wanted to know at what is the base_footprint frame refering to.

Thank you very much for your help :D.

Laura
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