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 is implemented in the diff_wheeled_robot_control package. The script folder contains the diff_wheeled_robot_key node, which is the teleop node. As per usual, you can get this package from the code provided with the book or download it from the following link:

$ git clone  https://github.com/jocacace/diff_wheeled_robot_control.git

To successfully compile and use this package, you may need to install the joy_node package:

 

$ sudo apt-get install ros-kinetic-joy

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...