teleop_keyboard

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Description

Keyboard teleoperation node for controlling the TurtleBot3 using keyboard inputs. This node allows users to control the robot’s linear and angular velocities using intuitive keyboard keys. The velocity commands are smoothly ramped to provide better control.

Publishers

cmd_vel (geometry_msgs/Twist or geometry_msgs/TwistStamped)
- Velocity commands for the robot
- Uses Twist for ROS 2 Humble, TwistStamped for later distributions

Parameters

The node uses environment variables instead of ROS parameters:

TURTLEBOT3_MODEL (environment variable)
- Must be set to either “burger”, “waffle”, or “waffle_pi”
- Determines the maximum velocity limits:
  - Burger: max linear 0.22 m/s, max angular 2.84 rad/s
  - Waffle/Waffle Pi: max linear 0.26 m/s, max angular 1.82 rad/s

Keyboard Controls

Control Your TurtleBot3!
---------------------------
Moving around:
        w
   a    s    d
        x

w/x : increase/decrease linear velocity
a/d : increase/decrease angular velocity
space key, s : force stop

CTRL-C to quit

Example Usage

Set the TurtleBot3 model and launch the keyboard teleoperation:

export TURTLEBOT3_MODEL=burger
ros2 run turtlebot3_teleop teleop_keyboard

For Waffle model:

export TURTLEBOT3_MODEL=waffle
ros2 run turtlebot3_teleop teleop_keyboard

Notes

The node requires terminal focus to receive keyboard input
Velocity changes are applied incrementally with step sizes:
- Linear velocity step: 0.01 m/s
- Angular velocity step: 0.1 rad/s
The node publishes commands at approximately 10 Hz
On exit, the node sends a stop command (all velocities set to zero)