Keyboard Teleop for ROS2 with two modes "incremental" and "hold"
- Clone the repo:
git clone https://github.com/tonynajjar/keyboard_teleop - Install dependencies:
rosdep install --from-paths src --ignore-src -r
ros2 run keyboard_teleop keyboard_teleop_hold
or
ros2 run keyboard_teleop keyboard_teleop_incremental
To run with custom config:
ros2 run keyboard_teleop key_teleop_incremental --ros-args --params-file <path-to-your-config-file>
A configuration example can be found in keyboard_teleop/config/
This node takes keypresses from the keyboard and publishes them
as Twist messages. This is the incremental mode; every key press
incrementally increase or decrease the respective dimensional speed.
WARNING: This node will take commands even if your terminal is not in focus!
Controls:
WASD or Arrows to increase/decrease speeds
Any other key to stop
CTRL-C or q to quit
This node takes keypresses from the keyboard and publishes them
as Twist messages. This is the holding mode; your keypress will
set the maximum configured speeds, at release all speeds are reset
WARNING: This node will take commands even if your terminal is not in focus!
Controls:
WASD or Arrows to move
Any other key to stop
CTRL-C or q to quit