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keystroke package from keystroke repo

keystroke

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.3.0
License BSD-3-Clause
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/RoverRobotics/ros2-keystroke.git
VCS Type git
VCS Version master
Last Updated 2019-05-03
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Capture keyboard input from the local computer and publish it to ROS

Additional Links

No additional links.

Maintainers

  • Dan Rose

Authors

  • Rover Robotics
README.md

Keystroke

This package republishes local keystrokes as ROS2 messages.

ROS API

Launch files

  • Keyboard listener listen.launch.py
  • Translate arrow keys to rover Twist messages teleop_twist.py

ros2 launch keystroke listen.launch.py

C:\Users\dan\Documents\ros2_ws>ros2 launch keystroke listen.launch.py
[INFO] [launch]: process[keystroke_listen.EXE-1]: started with pid [22940]
[INFO] [keystroke_listen]: To end this node, press the escape key
[INFO] [keystroke_listen]: pressed 'a'
[INFO] [keystroke_listen]: pressed 'e'
[INFO] [keystroke_listen]: pressed 'u'
[INFO] [keystroke_listen]: pressed space (32)
[INFO] [keystroke_listen]: pressed shift_r (161)
[INFO] [keystroke_listen]: pressed f1 (112)
[INFO] [keystroke_listen]: pressed esc (27)
[INFO] [keystroke_listen]: stopping listener
[INFO] [launch]: process[keystroke_listen.EXE-1]: process has finished cleanly

ros2 launch keystroke telop_twist.launch.py

C:\Users\dan\Documents\ros2_ws\src>ros2 launch keystroke keyboard_teleop_twist.launch.py
[INFO] [launch]: process[keystroke_listen.EXE-1]: started with pid [24820]
[INFO] [launch]: process[keystroke_arrows_to_twist.EXE-2]: started with pid [9908]
[INFO] [arrows_to_twist]: Arrows to twist node ready - F1 for usage
[INFO] [arrows_to_twist]: Use the arrow keys to change speed.
[F1] = Show this help
[Up]/[Down] = Forward and backward
[Left]/[Right] = Clockwise and counterclockwise
[INFO] [arrows_to_twist]: Increasing forward speed
[INFO] [arrows_to_twist]: Increasing forward speed
[INFO] [arrows_to_twist]: Increasing clockwise speed
[INFO] [arrows_to_twist]: Increasing clockwise speed
[INFO] [arrows_to_twist]: resetting speed

keystroke_listen Node

Run with ros2 run keystroke kesytroke_listen

Parameters:

  • exit_on_esc (boolean, default True): Whether the escape key should cause this node to exit

Published Topics:

  • /glyphkey_pressed (String) - Pressing a letter/number/symbol key
  • /key_pressed (UInt32) - Pressing spacebar, ctrl, F1, etc.

arrows_to_twist Node

Run with ros2 run keystroke_arrows_to_twist

Parameters:

  • publish_period (float): How often to publish the speed
  • linear_scale (float): How much to increase/decrease speed based on up/down arrows
  • angular_scale (float): How much to increase/decrease angular speed based on left/right arrows

Subscribed topics:

  • /key_pressed (Uint32) - Keypresses to translate to speed commands

Published topics:

  • /cmd_vel (Twist) - Velocity (linear and angular) commands
CHANGELOG

Changelog for package keystroke

0.3.0 (2019-05-03)

  • Fix crash on headless Linux server
  • Fix crash on unknown keyboard key
  • Reduce default linear scale
  • Setup script tweaks
  • Change license to BSD

0.2.2 (2019-04-23)

  • Fix the build under ubuntu (maybe?)

0.2.1 (2019-04-19)

  • Explicitly document python version Add setuptools minimum version 40.5 (need for [options.data_files])

0.2.0 (2019-04-19)

  • Add node to convert keyboard arrows to twist instructions and a launcher script for use with ros2 launch

0.1.1 (2019-04-17)

  • Pull setup info from package.xml
  • Add a ROS2 launch file
  • Add node that listens for keystrokes
  • Initial commit

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
geometry_msgs
launch
launch_ros
rclpy
std_msgs
ament_lint_auto
ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged keystroke at Robotics Stack Exchange

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