X-lanni
53 lines
1.3 KiB
Markdown
53 lines
1.3 KiB
Markdown
# teleop_twist_keyboard
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Generic Keyboard Teleoperation for ROS
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## Run
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```sh
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ros2 run teleop_twist_keyboard teleop_twist_keyboard
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```
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Publishing to a different topic (in this case `my_cmd_vel`).
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```sh
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ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=my_cmd_vel
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```
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## Usage
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```
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This node takes keypresses from the keyboard and publishes them as Twist
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messages. It works best with a US keyboard layout.
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---------------------------
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Moving around:
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u i o
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j k l
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m , .
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For Holonomic mode (strafing), hold down the shift key:
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---------------------------
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U I O
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J K L
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M < >
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t : up (+z)
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b : down (-z)
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anything else : stop
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q/z : increase/decrease max speeds by 10%
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w/x : increase/decrease only linear speed by 10%
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e/c : increase/decrease only angular speed by 10%
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CTRL-C to quit
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```
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## Parameters
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- `stamped (bool, default: false)`
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- If false (the default), publish a `geometry_msgs/msg/Twist` message. If true, publish a `geometry_msgs/msg/TwistStamped` message.
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- `frame_id (string, default: '')`
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- When `stamped` is true, the frame_id to use when publishing the `geometry_msgs/msg/TwistStamped` message.
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- `speed (double, default: 0.25)`
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- The speed the node starts with by default.
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- `turn (double, default: 0.5)`
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- The turn rate (rad/s) the node starts with by default.
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