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.gitTo successfully compile and use this package, you may need to install the joy_node package:
$ sudo apt-get install ros-kinetic-joyHere 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...