melodic noetic   Show EOL distros: 

Install

$ sudo apt-get install ros-$ROS_DISTRO-teleop-legged-robots 

Launch

$ roslaunch teleop_legged_robots teleop.launch 

Usage

Reading from the keyboard and Publishing to Twist and Pose!
---------------------------
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    <    >

Body pose:
---------------------------
1/2 : move the body forward/back (+/-x)
3/4 : move the body right/left (+/-y)

5/6 : move the body up/down (+/-z)

a/s : body's roll
d/f : body's pitch
g/h : body's yaw

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%

r/v : increase/decrease body's pose translation by 10%
t/b : increase/decrease body's pose angular speed by 10%

CTRL-C to quit

The operation of teleop_legged_robots is represented in video below.

The package can be used for teleoperation of the multiple legged robots (see video below).

Inspiration

The package was created by the inspiration of teleop_twist_keyboard(https://github.com/ros-teleop/teleop_twist_keyboard/)