ros2/teleop_twist_keyboard

Generic Keyboard Teleop for ROS

teleop_twist_keyboard

Generic Keyboard Teleoperation for ROS

Run

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Publishing to a different topic (in this case my_cmd_vel).

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.

teleop_twist_keyboard's Issues

teleop_twist_keyboard not `ros2 run`-able

Since the package doesn't register itself in the ament index (like here: https://github.com/ros2/demos/blob/16dc63380acca31eddd7cd6518a416830fa53dec/demo_nodes_py/setup.py#L18).

Update README once teleop_twist_keyboard with #6 is re-packaged

PR #5 changed the README.md to tell the user to use the fullpath for running teleop_twist_keyboard in beta2. That was because of a bug, which is now fixed in #6 . The next time that teleop_twist_keyboard is packaged, we should revert PR #5.

Launch failed

I have written simple launch file to run this node.
But it occured termios error and didn't run.

[ros2-1]     settings = termios.tcgetattr(sys.stdin)
[ros2-1] termios.error: (25, 'Inappropriate ioctl for device')

How can I fix this?

Crashes immediately on Windows

This package relies on the termios and tty python packages, which are not available on Windows. When attempting to launch the node, I get an immediate error message:

C:\Users\dan\Documents\ros2_ws>ros2 run teleop_twist_keyboard teleop_twist_keyboard
Traceback (most recent call last):
  File "C:\Users\dan\Documents\ros2_ws\install\teleop_twist_keyboard\lib\teleop_twist_keyboard\teleop_twist_keyboard-script.py", line 11, in <module>
    load_entry_point('teleop-twist-keyboard', 'console_scripts', 'teleop_twist_keyboard')()
  File "c:\python37\lib\site-packages\pkg_resources\__init__.py", line 489, in load_entry_point
    return get_distribution(dist).load_entry_point(group, name)
  File "c:\python37\lib\site-packages\pkg_resources\__init__.py", line 2843, in load_entry_point
    return ep.load()
  File "c:\python37\lib\site-packages\pkg_resources\__init__.py", line 2434, in load
    return self.resolve()
  File "c:\python37\lib\site-packages\pkg_resources\__init__.py", line 2440, in resolve
    module = __import__(self.module_name, fromlist=['__name__'], level=0)
  File "C:\Users\dan\Documents\ros2_ws\build\teleop_twist_keyboard\teleop_twist_keyboard.py", line 36, in <module>
    import termios
ModuleNotFoundError: No module named 'termios'

Humble (stamped) Support

I am currently running ROS2 humble and stamped messages do not appear to be working. Ros2_control recently updated their repo to default to stamped messages which I think may cause many people to run into issues. Has anyone come up with a way to support stamped messages in humble?

Subscribers to cmd_vel not working when using teleop

Hi;
I tried using teleop_twist_keyboard that came with my crystal install. I also tried the latest version here on the crystal and master branch...

I can run it, and published twists and see through ros2 topic echo /cmd_vel that is publishes correctly. If I launch a simple node (the same as a minimal-subscriber example, e.g. from here but use geometry::msg::Twist instead of std_msgs::String it does not work (the callback should print something to the console and it does not).

Checking with ros2 topic info /cmd_vel shows that there is a subscriber and a publisher, so it does seem something works...

However, if I manually publish something the cmd_vel using ros2 topic pub /cmd_vel geometry_msgs/Twist "{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}" the callback is triggered. ros2 topic info /cmd_vel then also shows there are two publishers active and one subscriber - which is correct.

So. I have little clue, but it seems like a bug. Or is there something I am missing?

Thanks for your time.

Axis-System rotation config

I have a robot which has a 90° rotated coordinate system (y-axis is forward/back and x-axis is sideways).

Therefore, it would be nice to be able to rotate the system for the teleop as well.