Repository Summary
Checkout URI | https://github.com/ros2/teleop_twist_keyboard.git |
VCS Type | git |
VCS Version | dashing |
Last Updated | 2024-03-08 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
teleop_twist_keyboard | 2.4.0 |
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 ageometry_msgs/msg/TwistStamped
message.
- If false (the default), publish a
-
frame_id (string, default: '')
- When
stamped
is true, the frame_id to use when publishing thegeometry_msgs/msg/TwistStamped
message.
- When
CONTRIBUTING
Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.
Repository Summary
Checkout URI | https://github.com/ros2/teleop_twist_keyboard.git |
VCS Type | git |
VCS Version | dashing |
Last Updated | 2024-03-08 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
teleop_twist_keyboard | 2.4.0 |
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 ageometry_msgs/msg/TwistStamped
message.
- If false (the default), publish a
-
frame_id (string, default: '')
- When
stamped
is true, the frame_id to use when publishing thegeometry_msgs/msg/TwistStamped
message.
- When
CONTRIBUTING
Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.
Repository Summary
Checkout URI | https://github.com/ros2/teleop_twist_keyboard.git |
VCS Type | git |
VCS Version | dashing |
Last Updated | 2024-03-08 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
teleop_twist_keyboard | 2.4.0 |
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 ageometry_msgs/msg/TwistStamped
message.
- If false (the default), publish a
-
frame_id (string, default: '')
- When
stamped
is true, the frame_id to use when publishing thegeometry_msgs/msg/TwistStamped
message.
- When
CONTRIBUTING
Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.
Repository Summary
Checkout URI | https://github.com/ros2/teleop_twist_keyboard.git |
VCS Type | git |
VCS Version | dashing |
Last Updated | 2024-03-08 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
teleop_twist_keyboard | 2.4.0 |
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 ageometry_msgs/msg/TwistStamped
message.
- If false (the default), publish a
-
frame_id (string, default: '')
- When
stamped
is true, the frame_id to use when publishing thegeometry_msgs/msg/TwistStamped
message.
- When
CONTRIBUTING
Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.
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 |
Tags | No category tags. |
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.
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 |
Tags | No category tags. |
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.
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 |
Tags | No category tags. |
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.
Repository Summary
Checkout URI | https://github.com/ros2/teleop_twist_keyboard.git |
VCS Type | git |
VCS Version | dashing |
Last Updated | 2024-03-08 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
teleop_twist_keyboard | 2.4.0 |
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 ageometry_msgs/msg/TwistStamped
message.
- If false (the default), publish a
-
frame_id (string, default: '')
- When
stamped
is true, the frame_id to use when publishing thegeometry_msgs/msg/TwistStamped
message.
- When
CONTRIBUTING
Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.
Repository Summary
Checkout URI | https://github.com/ros2/teleop_twist_keyboard.git |
VCS Type | git |
VCS Version | dashing |
Last Updated | 2024-03-08 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
teleop_twist_keyboard | 2.4.0 |
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 ageometry_msgs/msg/TwistStamped
message.
- If false (the default), publish a
-
frame_id (string, default: '')
- When
stamped
is true, the frame_id to use when publishing thegeometry_msgs/msg/TwistStamped
message.
- When
CONTRIBUTING
Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.
Repository Summary
Checkout URI | https://github.com/ros2/teleop_twist_keyboard.git |
VCS Type | git |
VCS Version | dashing |
Last Updated | 2024-03-08 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
teleop_twist_keyboard | 2.4.0 |
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 ageometry_msgs/msg/TwistStamped
message.
- If false (the default), publish a
-
frame_id (string, default: '')
- When
stamped
is true, the frame_id to use when publishing thegeometry_msgs/msg/TwistStamped
message.
- When
CONTRIBUTING
Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.
Repository Summary
Checkout URI | https://github.com/ros2/teleop_twist_keyboard.git |
VCS Type | git |
VCS Version | dashing |
Last Updated | 2024-03-08 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
teleop_twist_keyboard | 2.4.0 |
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 ageometry_msgs/msg/TwistStamped
message.
- If false (the default), publish a
-
frame_id (string, default: '')
- When
stamped
is true, the frame_id to use when publishing thegeometry_msgs/msg/TwistStamped
message.
- When
CONTRIBUTING
Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.
Repository Summary
Checkout URI | https://github.com/ros2/teleop_twist_keyboard.git |
VCS Type | git |
VCS Version | dashing |
Last Updated | 2024-03-08 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
teleop_twist_keyboard | 2.4.0 |
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 ageometry_msgs/msg/TwistStamped
message.
- If false (the default), publish a
-
frame_id (string, default: '')
- When
stamped
is true, the frame_id to use when publishing thegeometry_msgs/msg/TwistStamped
message.
- When
CONTRIBUTING
Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.
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 |
Tags | No category tags. |
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
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 |
Tags | No category tags. |
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
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 |
Tags | No category tags. |
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
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 |
Tags | No category tags. |
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
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 |
Tags | No category tags. |
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
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 |
Tags | No category tags. |
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
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 |
Tags | No category tags. |
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