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Migrate to use upstream teleop_twist_keyboard

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This commit is contained in:
Matt Spencer
2026-07-11 20:09:06 +01:00
parent 9efe4a8e76
commit f58a638453
13 changed files with 5 additions and 519 deletions
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teleop_twist_keyboard/CHANGELOG.rst
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2.4.0 (2024-03-08)
------------------
* Fixes for flake8. (`#29 <https://github.com/ros2/teleop_twist_keyboard/issues/29>`_)
* Show command to change topic name on readme (`#27 <https://github.com/ros2/teleop_twist_keyboard/issues/27>`_)
* Remove url for ros1 on package.xml (`#28 <https://github.com/ros2/teleop_twist_keyboard/issues/28>`_)
* Added TwistStamped option (`#26 <https://github.com/ros2/teleop_twist_keyboard/issues/26>`_)
* Switch to underscores for setup.cfg. (`#25 <https://github.com/ros2/teleop_twist_keyboard/issues/25>`_)
* Contributors: Asuki Kono, Chris Lalancette, agyoungs
2.3.2 (2020-05-12)
------------------
* Add Windows support to teleop_twist_keyboard. (`#24 <https://github.com/ros2/teleop_twist_keyboard/issues/24>`_)
* Contributors: Chris Lalancette
2.3.1 (2019-10-03)
------------------
* Stop using deprecated APIs. (`#22 <https://github.com/ros2/teleop_twist_keyboard/issues/22>`_)
* Contributors: Chris Lalancette
2.3.0 (2019-04-19)
------------------
* changing QoS to default (`#18 <https://github.com/ros2/teleop_twist_keyboard/issues/18>`_)
* Contributors: thorstink
2.1.1 (2018-06-26)
------------------
2.1.0 (2018-06-26)
------------------
* set zip_safe to avoid warning during installation (`#14 <https://github.com/ros2/teleop_twist_keyboard/issues/14>`_)
* Update the maintainer to me. (`#13 <https://github.com/ros2/teleop_twist_keyboard/issues/13>`_)
* fix data files install path (`#12 <https://github.com/ros2/teleop_twist_keyboard/issues/12>`_)
* remove test_suite, add pytest as test_requires (`#11 <https://github.com/ros2/teleop_twist_keyboard/issues/11>`_)
* use ros2 run to launch whichever the installation used (`#8 <https://github.com/ros2/teleop_twist_keyboard/issues/8>`_)
* Fix teleop_twist_keyboard to have a setup.cfg. (`#9 <https://github.com/ros2/teleop_twist_keyboard/issues/9>`_)
* Make sure to add teleop_twist_keyboard to ament index. (`#6 <https://github.com/ros2/teleop_twist_keyboard/issues/6>`_)
* use OSI website as reference for license (`#2 <https://github.com/ros2/teleop_twist_keyboard/issues/2>`_)
* ROS 2 port (`#1 <https://github.com/ros2/teleop_twist_keyboard/issues/1>`_)
* Contributors: Adam Allevato, Austin, Chris Lalancette, Dirk Thomas, Mikael Arguedas
0.6.1 (2018-05-02)
------------------
* Merge pull request `#11 <https://github.com/ros-teleop/teleop_twist_keyboard/issues/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 <https://github.com/ros-teleop/teleop_twist_keyboard/issues/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
teleop_twist_keyboard/CONTRIBUTING.md
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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/LICENSE
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All rights reserved.
Software License Agreement (BSD License 2.0)
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above
copyright notice, this list of conditions and the following
disclaimer in the documentation and/or other materials provided
with the distribution.
* Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived
from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
teleop_twist_keyboard/README.md
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# 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.
teleop_twist_keyboard/package.xml
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<?xml version="1.0"?>
<package format="2">
<name>teleop_twist_keyboard</name>
<version>2.4.0</version>
<description>
A robot-agnostic teleoperation node to convert keyboard commands to Twist
messages.
</description>
<maintainer email="clalancette@openrobotics.org">Chris Lalancette</maintainer>
<license>BSD License 2.0</license>
<author email="namniart@gmail.com">Austin Hendrix</author>
<author>Graylin Trevor Jay</author>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>rclpy</exec_depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>
teleop_twist_keyboard/resource/teleop_twist_keyboard
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teleop_twist_keyboard/setup.cfg
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[develop]
script_dir=$base/lib/teleop_twist_keyboard
[install]
install_scripts=$base/lib/teleop_twist_keyboard
teleop_twist_keyboard/setup.py
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from setuptools import setup
package_name = 'teleop_twist_keyboard'
setup(
name=package_name,
version='2.4.0',
packages=[],
py_modules=[
'teleop_twist_keyboard'
],
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='Chris Lalancette',
maintainer_email='clalancette@openrobotics.org',
author='Graylin Trevor Jay, Austin Hendrix',
keywords=['ROS'],
classifiers=[
'Intended Audience :: Developers',
'License :: BSD',
'Programming Language :: Python',
'Topic :: Software Development',
],
description='A robot-agnostic teleoperation node to convert keyboard'
'commands to Twist messages.',
license='BSD',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'teleop_twist_keyboard = teleop_twist_keyboard:main'
],
},
)
teleop_twist_keyboard/teleop_twist_keyboard.py
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# Copyright 2011 Brown University Robotics.
# Copyright 2017 Open Source Robotics Foundation, Inc.
# All rights reserved.
#
# Software License Agreement (BSD License 2.0)
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of the Willow Garage nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import sys
import threading
import geometry_msgs.msg
import rclpy
if sys.platform == 'win32':
import msvcrt
else:
import termios
import tty
msg = """
This node takes keypresses from the keyboard and publishes them
as Twist/TwistStamped 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
"""
moveBindings = {
'i': (1, 0, 0, 0),
'o': (1, 0, 0, -1),
'j': (0, 0, 0, 1),
'l': (0, 0, 0, -1),
'u': (1, 0, 0, 1),
',': (-1, 0, 0, 0),
'.': (-1, 0, 0, 1),
'm': (-1, 0, 0, -1),
'O': (1, -1, 0, 0),
'I': (1, 0, 0, 0),
'J': (0, 1, 0, 0),
'L': (0, -1, 0, 0),
'U': (1, 1, 0, 0),
'<': (-1, 0, 0, 0),
'>': (-1, -1, 0, 0),
'M': (-1, 1, 0, 0),
't': (0, 0, 1, 0),
'b': (0, 0, -1, 0),
}
speedBindings = {
'q': (1.1, 1.1),
'z': (.9, .9),
'w': (1.1, 1),
'x': (.9, 1),
'e': (1, 1.1),
'c': (1, .9),
}
def getKey(settings):
if sys.platform == 'win32':
# getwch() returns a string on Windows
key = msvcrt.getwch()
else:
tty.setraw(sys.stdin.fileno())
# sys.stdin.read() returns a string on Linux
key = sys.stdin.read(1)
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
return key
def saveTerminalSettings():
if sys.platform == 'win32':
return None
return termios.tcgetattr(sys.stdin)
def restoreTerminalSettings(old_settings):
if sys.platform == 'win32':
return
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings)
def vels(speed, turn):
return 'currently:\tspeed %s\tturn %s ' % (speed, turn)
def main():
settings = saveTerminalSettings()
rclpy.init()
node = rclpy.create_node('teleop_twist_keyboard')
# parameters
stamped = node.declare_parameter('stamped', False).value
frame_id = node.declare_parameter('frame_id', '').value
speed = node.declare_parameter('speed', 0.25).value
turn = node.declare_parameter('turn', 0.5).value
speed_limit = node.declare_parameter('speed_limit', 1.5).value
turn_limit = node.declare_parameter('turn_limit', 1.5).value
if not stamped and frame_id:
raise Exception("'frame_id' can only be set when 'stamped' is True")
if stamped:
TwistMsg = geometry_msgs.msg.TwistStamped
else:
TwistMsg = geometry_msgs.msg.Twist
pub = node.create_publisher(TwistMsg, 'cmd_vel', 10)
spinner = threading.Thread(target=rclpy.spin, args=(node,))
spinner.start()
x = 0.0
y = 0.0
z = 0.0
th = 0.0
status = 0.0
twist_msg = TwistMsg()
if stamped:
twist = twist_msg.twist
twist_msg.header.stamp = node.get_clock().now().to_msg()
twist_msg.header.frame_id = frame_id
else:
twist = twist_msg
try:
print(msg)
print(vels(speed, turn))
while True:
key = getKey(settings)
if key in moveBindings.keys():
x = moveBindings[key][0]
y = moveBindings[key][1]
z = moveBindings[key][2]
th = moveBindings[key][3]
elif key in speedBindings.keys():
speed = min(speed_limit, speed * speedBindings[key][0])
turn = min(turn_limit, turn * speedBindings[key][1])
if speed == speed_limit:
print("Linear speed limit reached!")
if turn == turn_limit:
print("Angular speed limit reached!")
print(vels(speed, turn))
if (status == 14):
print(msg)
status = (status + 1) % 15
else:
x = 0.0
y = 0.0
z = 0.0
th = 0.0
if (key == '\x03'):
break
if stamped:
twist_msg.header.stamp = node.get_clock().now().to_msg()
twist.linear.x = x * speed
twist.linear.y = y * speed
twist.linear.z = z * speed
twist.angular.x = 0.0
twist.angular.y = 0.0
twist.angular.z = th * turn
pub.publish(twist_msg)
except Exception as e:
print(e)
finally:
if stamped:
twist_msg.header.stamp = node.get_clock().now().to_msg()
twist.linear.x = 0.0
twist.linear.y = 0.0
twist.linear.z = 0.0
twist.angular.x = 0.0
twist.angular.y = 0.0
twist.angular.z = 0.0
pub.publish(twist_msg)
rclpy.shutdown()
spinner.join()
restoreTerminalSettings(settings)
if __name__ == '__main__':
main()
teleop_twist_keyboard/test/test_copyright.py
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_copyright.main import main
def test_copyright():
rc = main(argv=['.'])
assert rc == 0, 'Found errors'
teleop_twist_keyboard/test/test_flake8.py
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# Copyright 2017 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_flake8.main import main
def test_flake8():
rc = main(argv=[])
assert rc == 0, 'Found errors'
teleop_twist_keyboard/test/test_pep257.py
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_pep257.main import main
def test_pep257():
rc = main(argv=['.'])
assert rc == 0, 'Found code style errors / warnings'
upstream.jazzy.repos
+5 -1
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@@ -10,4 +10,8 @@ repositories:
navigation2: navigation2:
type: git type: git
url: https://github.com/ros-navigation/navigation2.git url: https://github.com/ros-navigation/navigation2.git
revision: humble revision: jazzy
teleop_twist_keyboard:
type: git
url: https://github.com/ros2/teleop_twist_keyboard.git
revision: jazzy