Here’s the README for Project 2: Keyboard Teleoperation Node.

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ROS Keyboard Teleoperation Node

This project is a ROS-based teleoperation node for controlling a robot or simulation interactively using keyboard inputs. It publishes velocity commands (geometry_msgs/Twist) to a ROS topic, allowing users to move the robot in real time.

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Features

• Interactive teleoperation via keyboard inputs.
• Publishes linear and angular velocity commands to ROS for robot control.
• Configurable linear and angular speed.
• Simple and intuitive interface for controlling robot movements.

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How It Works

• Listens for keyboard inputs and maps them to velocity commands:
  • Forward (w): Increases linear.x.
  • Backward (s): Decreases linear.x.
  • Left (a): Increases angular.z.
  • Right (d): Decreases angular.z.
  • Quit (Ctrl+C): Stops the node.
• Publishes these commands to the /turtle1/cmd_vel topic in real time.

Keyboard Commands

-------------------------------------------------------
			   ^
	spin L: Q	   W	        spin R: E
			forward

       < Left A 			Right D >

			 back
			  S
		  
	Raise : Z	  		Lower : X 
	Hover : F			Quit : CTRL+C
--------------------------------------------------------
		     NIYAS SALIM
--------------------------------------------------------

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Setup Instructions

Prerequisites

1. ROS Installed: Ensure you have ROS installed and set up on your system.
2. Python Environment: Ensure the required Python libraries (rospy, geometry_msgs) are installed.

Running the Node

1. Start ROS Core:

   roscore

2. Run the Teleoperation Node:

   python keyboard_teleop.py

3. Use the keyboard to interactively control the robot.

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Project Structure

keyboard_teleoperation/
├── keyboard_teleop.py         # Teleoperation Python script
└── README.md                  # Project documentation

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Future Improvements

• Add support for additional commands, such as speed adjustment.
• Integrate sensor data for obstacle avoidance.
• Implement GUI-based teleoperation.

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Acknowledgements

Special thanks to the ROS community for providing resources and tools for robot development.

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License

This project is licensed under the MIT License. See the LICENSE file for details.

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ROS-keyboard

control turtle with custom key

chmod -x rosrun /.py