ROS Programming: Building Powerful Robots

Adding the ROS teleop node

The ROS teleop node publishes the ROS Twist command by taking keyboard inputs. From this node, we can generate both linear and angular velocity and there is already a standard teleop node implementation available; we can simply reuse the node.

The teleop implemented in chapter_3_code/diff_wheeled_robot_control package. The script folder contains the diff_wheeled_robot_key node, which is the teleop node.

Here is the launch file called keyboard_teleop.launch to start the teleop node:

 <launch> <!-- differential_teleop_key already has its own built in velocity smoother --> <node pkg="diff_wheeled_robot_control" type="diff_wheeled_robot_key" name="diff_wheeled_robot_key" output="screen"> <param name="scale_linear" value="0.5" ...