Driving a Robot with a Keyboard


Connect to your robot and log in, following the instructions in Connecting to your robot for the first time. Log in to the robot from an ssh window, as before.

After logging in, the magni_base program will be running under ROS. To verify this, type:

rostopic list

Next, start the keyboard teleop program. In the ssh window, type:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

This will launch the teleop program in the robot. The following screen will appear:

Reading from the keyboard and Publishing to Twist!

Moving around:

u i o
j k l
m , .

The robot will respond to keystrokes as follows:

u circle left
I straight ahead
o circle right
j rotate counter clockwise
k all stop
l rotate clockwise
m circle backwards left
, straight back
. circle backwards right
q increase speed
z decrease speed

You can also run teleop-twist keyboard with the program running in your workstation. To do this you must connect the robot to your local WiFi network, and set up ROS on the workstation. These are discussed under Doing More, below.