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

1.0.0 (2020-06-26)

• Implement repeat rate and key timeout
• Update readme about publishing to another topic.
• Contributors: Austin, trainman419

0.6.2 (2018-10-21)

• Replace tabs with spaces, fixes #15
• Merge pull request #13 from asukiaaa/patch-3 Add rosrun command to specify values
• Add rosrun command to specify values
• Contributors: Asuki Kono, Austin, trainman419

0.6.1 (2018-05-02)

• Merge pull request #11 from MatthijsBurgh/patch-1 Correct exception handling; Python3 print compatible
• 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
• Update the description string in package.xml
• Contributors: Austin, Kei Okada, LiohAu, Mike Purvis, kk6axq, trainman419

0.5.0 (2014-02-11)

• Initial import from brown_remotelab
• Convert to catkin