A fork of the Generic Keyboard Teleoperation for ROS. This teleop-keyboard features a ROS parameter interface as well as intuitive keyboard operation through press-and-hold.
To launch in seperate terminal window:
ros2 launch teleop_twist_keyboard teleop_twist_keyboard_launch.py
The two parameters speed and turn can be interfaced through ROS parameters. Initial values are set to 0.25 m/s². For custom initial values, change launch file or run with
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p speed:=3.141 -p turn:=3.141
If no key is pressed or the most recent key has been released, the stop command is sent.
This node takes keypresses from the keyboard and publishes them as Twist
messages. It works best with a US keyboard layout.
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Moving around:
u i o
j k l
m , .
For Holonomic mode (strafing), hold down the shift key:
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U I O
J K L
M < >
t : up (+z)
b : down (-z)
q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
CTRL-C to quit