add teleop_twist_keyboard

2025-06-06 16:15:33 +08:00
parent a7b75c31cb
commit 67dfe89c8f
12 changed files with 511 additions and 0 deletions
@@ -0,0 +1,52 @@
+# teleop_twist_keyboard
+Generic Keyboard Teleoperation for ROS
+
+## Run
+
+```sh
+ros2 run teleop_twist_keyboard teleop_twist_keyboard
+```
+
+Publishing to a different topic (in this case `my_cmd_vel`).
+```sh
+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: 0.25)`
+  - The speed the node starts with by default.
+- `turn (double, default: 0.5)`
+  - The turn rate (rad/s) the node starts with by default.