A ROS2 package to drive a robot around using arrow keys.

The following video is recorded with the atreus robot, embedding the key presses using screenkey.

• Install all the dependencies using rosdep:

  rosdep install --from-paths $ROS_WS/src --ignore-src -r -y

• Build the workspace:

  colcon build --packages-select key_teleop_ros

• After launching your robot, you can execute the following command to drive it around using the arrow keys:

  ros2 run key_teleop_ros key_drive

  Or you can execute the node using a launch file:

  ros2 launch key_teleop_ros key_drive.launch.py

• The teleoperation node's parameters are as follows:

  • ~update_rate - The rate at which the node updates the robot's velocity. (default: 50 Hz)
  • ~linear_vel_start - The initial linear velocity of the robot. (default: 1.5 m/s)
  • ~angular_vel_start - The initial angular velocity of the robot. (default: 2.5 rad/s)
  • ~max_linear_vel - The maximum linear velocity of the robot. (default: 5.0 m/s)
  • ~max_angular_vel - The maximum angular velocity of the robot. (default: 5.0 rad/s)

  The topic name can be remapped using the cmd_vel argument.

• The following keys are used to drive and configure the robot:

  • ↑ - Move forward
  • ↓ - Move backward
  • ← - Turn left
  • → - Turn right
  • w - Increase linear velocity
  • s - Decrease linear velocity
  • d - Increase angular velocity
  • a - Decrease angular velocity
  • q - Quit the program

• The entire package is formatted against pycodestyle and pydocstyle.