keystroke repository

Repository Summary

Checkout URI
VCS Type git
VCS Version master
Last Updated 2019-05-03
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)


Name Version
keystroke 0.3.0



This package republishes local keystrokes as ROS2 messages.


Launch files

  • Keyboard listener
  • Translate arrow keys to rover Twist messages

ros2 launch keystroke

C:\Users\dan\Documents\ros2_ws>ros2 launch keystroke
[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

C:\Users\dan\Documents\ros2_ws\src>ros2 launch keystroke
[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


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