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teleop_twist_keyboard

Generic Keyboard Teleoperation for ROS

Run

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Publishing to a different topic (in this case my_cmd_vel).

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=my_cmd_vel

Usage

This node takes keypresses from the keyboard and publishes them as Twist
messages. It works best with a US keyboard layout.
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

For Holonomic mode (strafing), hold down the shift key:
---------------------------
   U    I    O
   J    K    L
   M    <    >

t : up (+z)
b : down (-z)

anything else : stop

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

Parameters

  • stamped (bool, default: false)
    • If false (the default), publish a geometry_msgs/msg/Twist message. If true, publish a geometry_msgs/msg/TwistStamped message.
  • frame_id (string, default: '')
    • When stamped is true, the frame_id to use when publishing the geometry_msgs/msg/TwistStamped message.