github开源键盘控制代码

# teleop_twist_keyboard Generic Keyboard Teleop for ROS # Launch Run. ``` rosrun teleop_twist_keyboard teleop_twist_keyboard.py ``` With custom values. ``` rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.9 _turn:=0.8 ``` Publishing to a different topic (in this case `my_cmd_vel`). ``` rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=my_cmd_vel ``` # Usage ``` Reading from the keyboard and Publishing to Twist! --------------------------- 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 ``` # Repeat Rate If your mobile base requires constant updates on the cmd\_vel topic, teleop\_twist\_keyboard can be configured to repeat the last command at a fixed interval, using the `repeat_rate` private parameter. For example, to repeat the last command at 10Hz: ``` rosrun teleop_twist_keyboard teleop_twist_keyboard.py _repeat_rate:=10.0 ``` It is _highly_ recommened that the repeat rate be used in conjunction with the key timeout, to prevent runaway robots. # Key Timeout Teleop\_twist\_keyboard can be configured to stop your robot if it does not receive any key presses in a configured time period, using the `key_timeout` private parameter. For example, to stop your robot if a keypress has not been received in 0.6 seconds: ``` rosrun teleop_twist_keyboard teleop_twist_keyboard.py _key_timeout:=0.6 ``` It is recommended that you set `key_timeout` higher than the initial key repeat delay on your system (This delay is 0.5 seconds by default on Ubuntu, but can be adjusted). # Twist with header Publishing a `TwistStamped` message instead of `Twist` can be enabled with the `stamped` private parameter. Additionally the `frame_id` of the `TwistStamped` message can be set with the `frame_id` private parameter. ``` rosrun teleop_twist_keyboard teleop_twist_keyboard.py _stamped:=True _frame_id:=base_link ```