teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/ros2/teleop_twist_keyboard.git
VCS Type	git
VCS Version	dashing
Last Updated	2025-09-26
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	2.4.1

README

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.

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/ros2/teleop_twist_keyboard.git
VCS Type	git
VCS Version	dashing
Last Updated	2025-09-26
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	2.4.1

README

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.

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
kilted

Repository Summary

Checkout URI	https://github.com/ros2/teleop_twist_keyboard.git
VCS Type	git
VCS Version	dashing
Last Updated	2025-09-26
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	2.4.1

README

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.

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
rolling

Repository Summary

Checkout URI	https://github.com/ros2/teleop_twist_keyboard.git
VCS Type	git
VCS Version	dashing
Last Updated	2025-09-26
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	2.4.1

README

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.

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
ardent

Repository Summary

Checkout URI	https://github.com/ros2/teleop_twist_keyboard.git
VCS Type	git
VCS Version	ardent
Last Updated	2017-12-09
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	2.0.0

README

teleop_twist_keyboard

Generic Keyboard Teleoperation for ROS

Launch

To run: ros2 run teleop_twist_keyboard teleop_twist_keyboard

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

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
bouncy

Repository Summary

Checkout URI	https://github.com/ros2/teleop_twist_keyboard.git
VCS Type	git
VCS Version	bouncy
Last Updated	2018-06-26
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	2.1.1

README

teleop_twist_keyboard

Generic Keyboard Teleoperation for ROS

Launch

To run: ros2 run teleop_twist_keyboard teleop_twist_keyboard

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

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
crystal

Repository Summary

Checkout URI	https://github.com/ros2/teleop_twist_keyboard.git
VCS Type	git
VCS Version	crystal
Last Updated	2019-02-25
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	2.2.0

README

teleop_twist_keyboard

Generic Keyboard Teleoperation for ROS

Launch

To run: ros2 run teleop_twist_keyboard teleop_twist_keyboard

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

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
eloquent

Repository Summary

Checkout URI	https://github.com/ros2/teleop_twist_keyboard.git
VCS Type	git
VCS Version	dashing
Last Updated	2025-09-26
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	2.4.1

README

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.

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
dashing

Repository Summary

Checkout URI	https://github.com/ros2/teleop_twist_keyboard.git
VCS Type	git
VCS Version	dashing
Last Updated	2025-09-26
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	2.4.1

README

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.

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
galactic

Repository Summary

Checkout URI	https://github.com/ros2/teleop_twist_keyboard.git
VCS Type	git
VCS Version	dashing
Last Updated	2025-09-26
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	2.4.1

README

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.

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
foxy

Repository Summary

Checkout URI	https://github.com/ros2/teleop_twist_keyboard.git
VCS Type	git
VCS Version	dashing
Last Updated	2025-09-26
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	2.4.1

README

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.

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
iron

Repository Summary

Checkout URI	https://github.com/ros2/teleop_twist_keyboard.git
VCS Type	git
VCS Version	dashing
Last Updated	2025-09-26
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	2.4.1

README

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.

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
lunar

Repository Summary

Checkout URI	https://github.com/ros-teleop/teleop_twist_keyboard.git
VCS Type	git
VCS Version	master
Last Updated	2022-12-23
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	1.0.0

README

teleop_twist_keyboard

Generic Keyboard Teleop for ROS

Launch

Run.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

With custom values.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.9 _turn:=0.8

Publishing to a different topic (in this case my_cmd_vel).

rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=my_cmd_vel

Usage

Reading from the keyboard  and Publishing to Twist!
---------------------------
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

Repeat Rate

If your mobile base requires constant updates on the cmd_vel topic, teleop_twist_keyboard can be configured to repeat the last command at a fixed interval, using the repeat_rate private parameter.

For example, to repeat the last command at 10Hz:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _repeat_rate:=10.0

It is highly recommened that the repeat rate be used in conjunction with the key timeout, to prevent runaway robots.

Key Timeout

Teleop_twist_keyboard can be configured to stop your robot if it does not receive any key presses in a configured time period, using the key_timeout private parameter.

For example, to stop your robot if a keypress has not been received in 0.6 seconds:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _key_timeout:=0.6

It is recommended that you set key_timeout higher than the initial key repeat delay on your system (This delay is 0.5 seconds by default on Ubuntu, but can be adjusted).

Twist with header

Publishing a TwistStamped message instead of Twist can be enabled with the stamped private parameter. Additionally the frame_id of the TwistStamped message can be set with the frame_id private parameter.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _stamped:=True _frame_id:=base_link

CONTRIBUTING

teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
jade

Repository Summary

Checkout URI	https://github.com/ros-teleop/teleop_twist_keyboard.git
VCS Type	git
VCS Version	master
Last Updated	2022-12-23
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	1.0.0

README

teleop_twist_keyboard

Generic Keyboard Teleop for ROS

Launch

Run.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

With custom values.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.9 _turn:=0.8

Publishing to a different topic (in this case my_cmd_vel).

rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=my_cmd_vel

Usage

Reading from the keyboard  and Publishing to Twist!
---------------------------
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

Repeat Rate

If your mobile base requires constant updates on the cmd_vel topic, teleop_twist_keyboard can be configured to repeat the last command at a fixed interval, using the repeat_rate private parameter.

For example, to repeat the last command at 10Hz:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _repeat_rate:=10.0

It is highly recommened that the repeat rate be used in conjunction with the key timeout, to prevent runaway robots.

Key Timeout

Teleop_twist_keyboard can be configured to stop your robot if it does not receive any key presses in a configured time period, using the key_timeout private parameter.

For example, to stop your robot if a keypress has not been received in 0.6 seconds:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _key_timeout:=0.6

It is recommended that you set key_timeout higher than the initial key repeat delay on your system (This delay is 0.5 seconds by default on Ubuntu, but can be adjusted).

Twist with header

Publishing a TwistStamped message instead of Twist can be enabled with the stamped private parameter. Additionally the frame_id of the TwistStamped message can be set with the frame_id private parameter.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _stamped:=True _frame_id:=base_link

CONTRIBUTING

teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
indigo

Repository Summary

Checkout URI	https://github.com/ros-teleop/teleop_twist_keyboard.git
VCS Type	git
VCS Version	master
Last Updated	2022-12-23
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	1.0.0

README

teleop_twist_keyboard

Generic Keyboard Teleop for ROS

Launch

Run.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

With custom values.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.9 _turn:=0.8

Publishing to a different topic (in this case my_cmd_vel).

rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=my_cmd_vel

Usage

Reading from the keyboard  and Publishing to Twist!
---------------------------
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

Repeat Rate

If your mobile base requires constant updates on the cmd_vel topic, teleop_twist_keyboard can be configured to repeat the last command at a fixed interval, using the repeat_rate private parameter.

For example, to repeat the last command at 10Hz:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _repeat_rate:=10.0

It is highly recommened that the repeat rate be used in conjunction with the key timeout, to prevent runaway robots.

Key Timeout

Teleop_twist_keyboard can be configured to stop your robot if it does not receive any key presses in a configured time period, using the key_timeout private parameter.

For example, to stop your robot if a keypress has not been received in 0.6 seconds:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _key_timeout:=0.6

It is recommended that you set key_timeout higher than the initial key repeat delay on your system (This delay is 0.5 seconds by default on Ubuntu, but can be adjusted).

Twist with header

Publishing a TwistStamped message instead of Twist can be enabled with the stamped private parameter. Additionally the frame_id of the TwistStamped message can be set with the frame_id private parameter.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _stamped:=True _frame_id:=base_link

CONTRIBUTING

teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
hydro

Repository Summary

Checkout URI	https://github.com/ros-teleop/teleop_twist_keyboard.git
VCS Type	git
VCS Version	master
Last Updated	2022-12-23
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	1.0.0

README

teleop_twist_keyboard

Generic Keyboard Teleop for ROS

Launch

Run.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

With custom values.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.9 _turn:=0.8

Publishing to a different topic (in this case my_cmd_vel).

rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=my_cmd_vel

Usage

Reading from the keyboard  and Publishing to Twist!
---------------------------
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

Repeat Rate

If your mobile base requires constant updates on the cmd_vel topic, teleop_twist_keyboard can be configured to repeat the last command at a fixed interval, using the repeat_rate private parameter.

For example, to repeat the last command at 10Hz:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _repeat_rate:=10.0

It is highly recommened that the repeat rate be used in conjunction with the key timeout, to prevent runaway robots.

Key Timeout

Teleop_twist_keyboard can be configured to stop your robot if it does not receive any key presses in a configured time period, using the key_timeout private parameter.

For example, to stop your robot if a keypress has not been received in 0.6 seconds:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _key_timeout:=0.6

It is recommended that you set key_timeout higher than the initial key repeat delay on your system (This delay is 0.5 seconds by default on Ubuntu, but can be adjusted).

Twist with header

Publishing a TwistStamped message instead of Twist can be enabled with the stamped private parameter. Additionally the frame_id of the TwistStamped message can be set with the frame_id private parameter.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _stamped:=True _frame_id:=base_link

CONTRIBUTING

teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
kinetic

Repository Summary

Checkout URI	https://github.com/ros-teleop/teleop_twist_keyboard.git
VCS Type	git
VCS Version	master
Last Updated	2022-12-23
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	1.0.0

README

teleop_twist_keyboard

Generic Keyboard Teleop for ROS

Launch

Run.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

With custom values.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.9 _turn:=0.8

Publishing to a different topic (in this case my_cmd_vel).

rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=my_cmd_vel

Usage

Reading from the keyboard  and Publishing to Twist!
---------------------------
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

Repeat Rate

If your mobile base requires constant updates on the cmd_vel topic, teleop_twist_keyboard can be configured to repeat the last command at a fixed interval, using the repeat_rate private parameter.

For example, to repeat the last command at 10Hz:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _repeat_rate:=10.0

It is highly recommened that the repeat rate be used in conjunction with the key timeout, to prevent runaway robots.

Key Timeout

Teleop_twist_keyboard can be configured to stop your robot if it does not receive any key presses in a configured time period, using the key_timeout private parameter.

For example, to stop your robot if a keypress has not been received in 0.6 seconds:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _key_timeout:=0.6

It is recommended that you set key_timeout higher than the initial key repeat delay on your system (This delay is 0.5 seconds by default on Ubuntu, but can be adjusted).

Twist with header

Publishing a TwistStamped message instead of Twist can be enabled with the stamped private parameter. Additionally the frame_id of the TwistStamped message can be set with the frame_id private parameter.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _stamped:=True _frame_id:=base_link

CONTRIBUTING

teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
melodic

Repository Summary

Checkout URI	https://github.com/ros-teleop/teleop_twist_keyboard.git
VCS Type	git
VCS Version	master
Last Updated	2022-12-23
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	1.0.0

README

teleop_twist_keyboard

Generic Keyboard Teleop for ROS

Launch

Run.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

With custom values.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.9 _turn:=0.8

Publishing to a different topic (in this case my_cmd_vel).

rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=my_cmd_vel

Usage

Reading from the keyboard  and Publishing to Twist!
---------------------------
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

Repeat Rate

If your mobile base requires constant updates on the cmd_vel topic, teleop_twist_keyboard can be configured to repeat the last command at a fixed interval, using the repeat_rate private parameter.

For example, to repeat the last command at 10Hz:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _repeat_rate:=10.0

It is highly recommened that the repeat rate be used in conjunction with the key timeout, to prevent runaway robots.

Key Timeout

Teleop_twist_keyboard can be configured to stop your robot if it does not receive any key presses in a configured time period, using the key_timeout private parameter.

For example, to stop your robot if a keypress has not been received in 0.6 seconds:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _key_timeout:=0.6

It is recommended that you set key_timeout higher than the initial key repeat delay on your system (This delay is 0.5 seconds by default on Ubuntu, but can be adjusted).

Twist with header

Publishing a TwistStamped message instead of Twist can be enabled with the stamped private parameter. Additionally the frame_id of the TwistStamped message can be set with the frame_id private parameter.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _stamped:=True _frame_id:=base_link

CONTRIBUTING

teleop_twist_keyboard repository

teleop_twist_keyboard

ROS Distro
noetic

Repository Summary

Checkout URI	https://github.com/ros-teleop/teleop_twist_keyboard.git
VCS Type	git
VCS Version	master
Last Updated	2022-12-23
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
teleop_twist_keyboard	1.0.0

README

teleop_twist_keyboard

Generic Keyboard Teleop for ROS

Launch

Run.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

With custom values.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.9 _turn:=0.8

Publishing to a different topic (in this case my_cmd_vel).

rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=my_cmd_vel

Usage

Reading from the keyboard  and Publishing to Twist!
---------------------------
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

Repeat Rate

If your mobile base requires constant updates on the cmd_vel topic, teleop_twist_keyboard can be configured to repeat the last command at a fixed interval, using the repeat_rate private parameter.

For example, to repeat the last command at 10Hz:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _repeat_rate:=10.0

It is highly recommened that the repeat rate be used in conjunction with the key timeout, to prevent runaway robots.

Key Timeout

Teleop_twist_keyboard can be configured to stop your robot if it does not receive any key presses in a configured time period, using the key_timeout private parameter.

For example, to stop your robot if a keypress has not been received in 0.6 seconds:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _key_timeout:=0.6

It is recommended that you set key_timeout higher than the initial key repeat delay on your system (This delay is 0.5 seconds by default on Ubuntu, but can be adjusted).

Twist with header

Publishing a TwistStamped message instead of Twist can be enabled with the stamped private parameter. Additionally the frame_id of the TwistStamped message can be set with the frame_id private parameter.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _stamped:=True _frame_id:=base_link

teleop_twist_keyboard repository

ROS Distrohumble

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