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Teleop with teleop_twist_keyboard

Description: This tutorial explains how to teleop a simulated robot using teleop_twist_keyboard

Tutorial Level: BEGINNER

Install teleop_twist_keyboard package

First, you must install the teleop_twist_keyboard package:

sudo apt-get install ros-hydro-teleop-twist-keyboard

Run teleop_twist_keyboard

Now, simply run the teleop_twist_keyboard node, and remap its cmd_vel topic to the robot use wish to control. For example, to control robot0, run:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=robot0/cmd_vel

Teleoperate your robot!

Simply follow the on-screen instructions to teleop your robot:

---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

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%
anything else : stop

CTRL-C to quit

Optional: Create a launch file

If you wish to create a launch file to teleop your robot in simulation, you could use:

<launch>
  <node pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" name="teleop">
    <remap from="cmd_vel" to="robot0/cmd_vel"/>
  </node>
</launch>


2019-09-21 13:14