Teleop Control

# Install teleop_twist_keyboard
sudo apt install ros-jazzy-teleop-twist-keyboard

ros2 launch mecanum_description robot_control.launch.py

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap /cmd_vel:=/cmd_vel

Reading from the keyboard and publishing to /cmd_vel!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

For Mecanum wheels (omnidirectional):
- i: Forward
- ,: Backward
- j: Strafe left
- l: Strafe right
- u: Forward + left
- o: Forward + right
- m: Backward + left
- .: Backward + right
- k: Stop

Rotation:
- q: Rotate counterclockwise (left)
- e: Rotate clockwise (right)

Speed control:
- w/x: Increase/decrease linear velocity
- a/d: Increase/decrease angular velocity
- s: Stop (force emergency stop)

CTRL-C to quit

# Launch with custom speeds
ros2 run teleop_twist_keyboard teleop_twist_keyboard \
  --ros-args \
  --remap /cmd_vel:=/cmd_vel \
  -p speed:=0.3 \
  -p turn:=0.5

# Install joy packages
sudo apt install ros-jazzy-joy ros-jazzy-teleop-twist-joy

# List joystick devices
ls /dev/input/js*
# Expected: /dev/input/js0

# Test joystick
sudo jstest /dev/input/js0
# Move sticks, press buttons to see output

teleop_twist_joy_node:
  ros__parameters:
    # Axis mappings (depends on your controller)
    axis_linear:
      x: 1  # Left stick vertical (forward/backward)
      y: 0  # Left stick horizontal (strafe left/right)
    axis_angular:
      yaw: 2  # Right stick horizontal (rotate)

    # Scale factors
    scale_linear:
      x: 1.0
      y: 1.0
    scale_angular:
      yaw: 1.0

    # Enable button (hold to move, release to stop)
    enable_button: 0  # Button 0 (typically "A" on Xbox, "X" on PS)

    # Turbo button (hold for faster speed)
    enable_turbo_button: 1  # Button 1 (typically "B" on Xbox, "Circle" on PS)

    # Require enable button (safety)
    require_enable_button: true

# Terminal 1: Robot control
ros2 launch mecanum_description robot_control.launch.py

# Terminal 2: Joy node
ros2 run joy joy_node

# Terminal 3: Teleop twist joy
ros2 run teleop_twist_joy teleop_node --ros-args --params-file config/teleop_joy.yaml

sudo apt install ros-jazzy-rqt-robot-steering

# Launch rqt with robot steering plugin
rqt

# Terminal 1: Monitor velocity commands
ros2 topic echo /cmd_vel

# Terminal 2: Monitor joint states
ros2 topic echo /joint_states

# Terminal 3: Monitor odometry
ros2 topic echo /mecanum_drive_controller/odom

import rclpy
from rclpy.node import Node
from geometry_msgs.msg import Twist
from pynput import keyboard

class CustomTeleop(Node):
    def __init__(self):
        super().__init__('custom_teleop')
        self.publisher = self.create_publisher(Twist, '/cmd_vel', 10)
        self.linear_speed = 0.5
        self.angular_speed = 1.0
        self.current_twist = Twist()

        # Start keyboard listener
        listener = keyboard.Listener(on_press=self.on_key_press,
                                      on_release=self.on_key_release)
        listener.start()

        # Timer to publish at fixed rate
        self.timer = self.create_timer(0.1, self.publish_twist)

    def on_key_press(self, key):
        try:
            if key.char == 'w':
                self.current_twist.linear.x = self.linear_speed
            elif key.char == 's':
                self.current_twist.linear.x = -self.linear_speed
            elif key.char == 'a':
                self.current_twist.linear.y = self.linear_speed
            elif key.char == 'd':
                self.current_twist.linear.y = -self.linear_speed
            elif key.char == 'q':
                self.current_twist.angular.z = self.angular_speed
            elif key.char == 'e':
                self.current_twist.angular.z = -self.angular_speed
        except AttributeError:
            pass

    def on_key_release(self, key):
        # Stop on any key release
        self.current_twist = Twist()

    def publish_twist(self):
        self.publisher.publish(self.current_twist)

def main(args=None):
    rclpy.init(args=args)
    node = CustomTeleop()
    rclpy.spin(node)
    node.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare

def generate_launch_description():
    # Include robot control launch
    robot_control = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([
            PathJoinSubstitution([
                FindPackageShare('mecanum_description'),
                'launch',
                'robot_control.launch.py'
            ])
        ])
    )

    # Teleop keyboard
    teleop = Node(
        package='teleop_twist_keyboard',
        executable='teleop_twist_keyboard',
        name='teleop',
        prefix='xterm -e',  # Run in separate terminal
        output='screen'
    )

    return LaunchDescription([
        robot_control,
        teleop,
    ])

ros2 launch mecanum_description teleop.launch.py