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The page introduces the usage of teleop_twist_keyboard, including how to control the motion of a robot using the keyboard.

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Environment Setup

software platform

• Ubuntu 20.04 X86
• ROS Noetic

hardware platform

Choose any one below：

• Slamware Kit (User Robot System based on Slamware Solution)
• robot base systems like Apollo/Ares/Athena 

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Sample Code Download

ROS-例程下载

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Compile and Run

1. Download the Slamware ROS SDK along with ROS examples.
2. Place the 'src' folder from the ROS SDK into an empty working directory, such as 'catkin_ws'. Also, put the 'slamware_ros_sample' folder from the ROS examples into the 'src' folder.
   

   Code Block
   language bash
   mkdir -p catkin_ws/src cd catkin_ws/src

3. Initialize the workspace using the Catkin tool.
   

   Code Block
   language bash
   catkin_init_workspace

4. Compile.

   Code Block
   language bash
   cd .. catkin_make

5. Set up workspace environment.
   

   Code Block
   language bash
   source devel/setup.bash

   
   
6. Launch the slamware_ros_sdk_server_node node. Select the corresponding IP according to the mode.

   Code Block
   language bash
   roslaunch slamware_ros_sdk slamware_ros_sdk_server_node.launch ip_address:=10.6.128.141 // Station mode // If in AP mode, the IP address is 192.168.11.1

7. Open another terminal, repeat step 5, and start the teleop_twist_keyboard_node node. Follow the prompts and use the W/S/A/D keys to control the robot to move forward/backward/left/right accordingly.

   Code Block
   language bash
   roslaunch slamware_ros_sample teleop_twist_keyboard.launch

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Code Description

moveBindings = {
    'w':(1.0, 0.0),
    's':(-1.0, 0.0),
    'a':(0.0, 1.0),
    'd':(0.0, -1.0)
}

pub = rospy.Publisher('/cmd_vel', Twist, queue_size = 1)

rospy.init_node('teleop_twist_keyboard_node')

key = getKey()
print(key)
if key in moveBindings.keys():
    linearX = moveBindings[key][0]
    angularZ = moveBindings[key][1]
else:
    linearX = 0.0
    angularZ = 0.0
    if (key == '\x03'):
        break

twist = Twist()
twist.linear.x = linearX
twist.angular.z = angularZ
pub.publish(twist)