Kinetic: turtlesim and teleop_key. Change keyboard key input?

Hello everyone. I’m at the beginning with ROS. I installed the Kinetic on ubuntu 16.04 LTS.

I would like to understand how I can change the keys to control the turtlesim from the teleop_key (for example, instead of the arrows, the keys w, a, s, d). It can be done? Can someone help me?
Thank you.

Hi, you can change keys.

Fisrt, check which topic subscribe turtlesim node. Maybe this node subscribes ‘cmd_vel’ topic.

And make new publisher node for publish this topic.

I recommend that you refer to the code below

You just change KEYCODE.