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teleop_wasd_keyboard

https://github.com/rohitkjohnedu/teleop_wasd_keyboard

Science Score: 44.0%

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    Low similarity (8.0%) to scientific vocabulary
Last synced: 6 months ago · JSON representation ·

Repository

Basic Info
  • Host: GitHub
  • Owner: rohitkjohnedu
  • License: mit
  • Language: Python
  • Default Branch: main
  • Size: 19.5 KB
Statistics
  • Stars: 0
  • Watchers: 1
  • Forks: 0
  • Open Issues: 0
  • Releases: 0
Created over 4 years ago · Last pushed about 4 years ago
Metadata Files
Readme License Citation

readme.md

Teleop WASD keyboard

This is a ROS package which contains a node which listens to keyboard input and publishes a topic which can be used to operate a service robot moving on a plane. This was inspired by teleoptwistkeyboard [1]

Aim

To make my own teleop node. It works like racing game. WASD controls the linear movement, qe controls the angular movement. Space is used for braking.

Requirements

  • ROS
  • pynput [3]
  • jupyter-notebook (for processing data from wasd_tester)

Operation

  • To run the node, first run roscore and don't forget to source the setup.bash file. Run the node using the following command

rosrun teleop_wasd_keyboard keyboard_listener.py

  • To shutdown the node use CTRL+C

  • The command would be published in the topic /wasd_cmd_topic

  • Once the node it running, it will listen to all keyboard inputs, even if the terminal running this node is not selected.

    • Tip: Open a text editor and select it while issuing the command. This was one can keep a record of the commands issued

  • Key bindings

    • w: Increase x velocity
    • s: Decrease x velocity
    • a: Increase y velocity
    • d: Decrease y velocity
    • q: Increase z angular velocity
    • e: Decrease z angular velocity
    • space: Brake. Decelerate all speeds to 0.0

  • This node can listen to more than one key stroke.

    • For example is you press w, e, and d, the node will issue commands to increase the x and y component of the velocity as well as reduce the angular velocity along z ## License Licensed under the MIT License.

References

[1] https://github.com/ros-teleop/teleoptwistkeyboard

[2] https://stackoverflow.com/questions/11918999/key-listeners-in-python

[3] https://pypi.org/project/pynput/

Owner

  • Login: rohitkjohnedu
  • Kind: user

Citation (CITATION.cff) 

cff-version: 1.2.0
message: "If you use this software, please cite it as below."
authors:
- family-names: "Kadungamparambil John"
  given-names: "Rohit"
title: "Teleop WASD keyboard"
version: 1.0.0
date-released: 2021-12-17
url: "https://github.com/rohitkjohnedu/teleop_wasd_keyboard"

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