Kinetic: turtlesim and teleop_key. Change keyboard key input?

cholopineco · February 28, 2018, 10:40am

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.

Gilbert · March 2, 2018, 1:20am

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

github.com

ros/ros_tutorials/blob/lunar-devel/turtlesim/tutorials/teleop_turtle_key.cpp

#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <signal.h>
#include <termios.h>
#include <stdio.h>

#define KEYCODE_R 0x43 
#define KEYCODE_L 0x44
#define KEYCODE_U 0x41
#define KEYCODE_D 0x42
#define KEYCODE_Q 0x71

class TeleopTurtle
{
public:
  TeleopTurtle();
  void keyLoop();

private:

This file has been truncated. show original

You just change KEYCODE.