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.
• speed (double, default: 0.5)
  • The speed the node starts with by default.
• turn (double, default: 1.0)
  • The turn rate (rad/s) the node starts with by default.

Changelog for package teleop_twist_keyboard

2.4.1 (2025-09-26)

• replace tests_require with extra_require (#38)

  * replace tests_require with extra_require Co-authored-by: Chris Lalancette <<clalancette@gmail.com>>

• Set all parameters as read-only. (#40)

  * Reject parameter updates. While there are a number of parameters here that can be set at startup, none of them can actually be configured at runtime successfully. Set them to read-only.

• Add speed&turn parameters (#34)

  * Add speed&turn parameters Co-authored-by: G.A. vd. Hoorn <<g.a.vanderhoorn@tudelft.nl>>

• Contributors: Arend-Jan van Hilten, Chris Lalancette, Plumezz

2.4.0 (2024-03-08)

• Fixes for flake8. (#29)
• Show command to change topic name on readme (#27)
• Remove url for ros1 on package.xml (#28)
• Added TwistStamped option (#26)
• Switch to underscores for setup.cfg. (#25)
• Contributors: Asuki Kono, Chris Lalancette, agyoungs

2.3.2 (2020-05-12)

• Add Windows support to teleop_twist_keyboard. (#24)
• Contributors: Chris Lalancette

2.3.1 (2019-10-03)

• Stop using deprecated APIs. (#22)
• Contributors: Chris Lalancette

2.3.0 (2019-04-19)

• changing QoS to default (#18)
• Contributors: thorstink

2.1.1 (2018-06-26)

2.1.0 (2018-06-26)

• set zip_safe to avoid warning during installation (#14)
• Update the maintainer to me. (#13)
• fix data files install path (#12)
• remove test_suite, add pytest as test_requires (#11)
• use ros2 run to launch whichever the installation used (#8)
• Fix teleop_twist_keyboard to have a setup.cfg. (#9)
• Make sure to add teleop_twist_keyboard to ament index. (#6)
• use OSI website as reference for license (#2)
• ROS 2 port (#1)
• Contributors: Adam Allevato, Austin, Chris Lalancette, Dirk Thomas, Mikael Arguedas

0.6.1 (2018-05-02)

• import print from future
• Print python3 compatible
• correct Exception handling
• Merge pull request #7 from lucasw/speed_params set linear and turn speed via rosparams
• Using tabs instead of spaces to match rest of file
• set linear and turn speed via rosparams
• Contributors: Austin, Lucas Walter, Matthijs van der Burgh

0.6.0 (2016-03-21)

• Better instruction formatting
• support holonomic base, send commmand with keyboard down
• Fixing queue_size warning
• Create README.md

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