bcr_teleop

Generic (wasd) keyboard based tele-operation package to publish geometry_msgs/Twist commands. Intended application is to publish commands for non-holonomic mobile robots (Ackermann/Skid-Steer/Differential drives). Publishes commands at 20 Hz.

Run

Standard Operation,

rosrun bcr_teleop bcr_teleop_node.py

Remap to a different topic,

rosrun bcr_teleop bcr_teleop_node.py cmd_vel:=cmd_vel2

Usage

w: increment linear velocity by 0.1,
s: decrement linear velocity by 0.1,
a: increment angular velocity by 0.1,
d: decrement angular velocity by 0.1,
space: zero velocity command,
q: QUIT

Published Topics

• cmd_vel: geometry_msgs/Twist