mturtle_teleop_key

turtle_teleop_key for mturtlesim (mROS 2 dedicated version of turtlesim)

original code is from ros/tutorials

Build

$ mkdir -p your-workspace/src
$ cd your-workspace
$ git clone https://github.com/mROS-base/mturtle_teleop_key.git src/mturtle_teleop_key
$ source /opt/ros/humble/setup.bash
$ colcon build
$ source install/local_setup.bash

Run

$ ros2 run mturtle_teleop_key mturtle_teleop_key
Reading from keyboard
---------------------------
O|L|.|,|M|J|U|I keys to move around.
'K' to stop the turtle.
W|X to increase/decrease maximum speeds by 10%.
E|C to increase/decrease linear speed by 10%.
R|V to increase/decrease angular speed by 10%.
'Q' to quit.

      i
      ^
u <-  |  -> o
    \ | /
     +-+
   +-+ +-+
   |     |
   +-----+
    / | \
m <-  |  -> .
      v
      ,

• j: rotate left
• l: rotate right
• k: stop

Topics

Topic	Type	Direcetion	Description
cmd_vel	geometry_msgs/Twist	pub	Velocity command.

Parameters

Parameter	Type	Description
scale_angular	double	Scaling factor for angular speed (default 0.25).
scale_linear	double	Scaling factor for linear speed (default 0.25).