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Author: barrymulvey

CMakeLists.txt

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+/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake

images/gazebo_world.png

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+%YAML:1.0
+---
+camera_name: rtabmap
+image_width: 640
+image_height: 480
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 5.5438271282264407e+02, 0., 3.2050000000000000e+02,
+       -3.8806789897585091e+01, 0., 5.5438271282264407e+02,
+       2.4050000000000000e+02, 0., 0. ]
+distortion_coefficients:
+   rows: 1
+   cols: 5
+   data: [ 0., 0., 0., 0., 0. ]
+distortion_model: plumb_bob
+rectification_matrix:
+   rows: 3
+   cols: 3
+   data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
+projection_matrix:
+   rows: 3
+   cols: 4
+   data: [ 5.5438271282264407e+02, 0., 3.2050000000000000e+02,
+       -3.8806789897585091e+01, 0., 5.5438271282264407e+02,
+       2.4050000000000000e+02, 0., 0., 0., 1., 0. ]

images/map_2d_full

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+0.6.2 (2018-10-21)
+------------------
+* Replace tabs with spaces, fixes `#15 <https://github.com/ros-teleop/teleop_twist_keyboard/issues/15>`_
+* Merge pull request `#13 <https://github.com/ros-teleop/teleop_twist_keyboard/issues/13>`_ from asukiaaa/patch-3
+  Add rosrun command to specify values
+* Add rosrun command to specify values
+* Contributors: Asuki Kono, Austin, trainman419
+
+0.6.1 (2018-05-02)
+------------------
+* Merge pull request `#11 <https://github.com/ros-teleop/teleop_twist_keyboard/issues/11>`_ from MatthijsBurgh/patch-1
+  Correct exception handling; Python3 print compatible
+* import print from future
+* Print python3 compatible
+* correct Exception handling
+* Merge pull request `#7 <https://github.com/ros-teleop/teleop_twist_keyboard/issues/7>`_ from lucasw/speed_params
+  set linear and turn speed via rosparams
+* Using tabs instead of spaces to match rest of file
+* set linear and turn speed via rosparams
+* Contributors: Austin, Lucas Walter, Matthijs van der Burgh
+
+0.6.0 (2016-03-21)
+------------------
+* Better instruction formatting
+* support holonomic base, send commmand with keyboard down
+* Fixing queue_size warning
+* Create README.md
+* Update the description string in package.xml
+* Contributors: Austin, Kei Okada, LiohAu, Mike Purvis, kk6axq, trainman419
+
+0.5.0 (2014-02-11)
+------------------
+* Initial import from brown_remotelab
+* Convert to catkin

images/map_2d_partial

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+cmake_minimum_required(VERSION 2.8.3)
+project(teleop_twist_keyboard)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+catkin_install_python(PROGRAMS
+   teleop_twist_keyboard.py
+   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+

images/map_3d_gazebo_world.png

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+# teleop_twist_keyboard
+Generic Keyboard Teleop for ROS
+
+# Launch
+Run.
+```
+rosrun teleop_twist_keyboard teleop_twist_keyboard.py
+```
+
+With custom values.
+```
+rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.9 _turn:=0.8
+```
+
+Publishing to a different topic (in this case `my_cmd_vel`).
+```
+rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=my_cmd_vel
+```
+
+# Usage
+```
+Reading from the keyboard  and Publishing to Twist!
+---------------------------
+Moving around:
+   u    i    o
+   j    k    l
+   m    ,    .
+
+For Holonomic mode (strafing), hold down the shift key:
+---------------------------
+   U    I    O
+   J    K    L
+   M    <    >
+
+t : up (+z)
+b : down (-z)
+
+anything else : stop
+
+q/z : increase/decrease max speeds by 10%
+w/x : increase/decrease only linear speed by 10%
+e/c : increase/decrease only angular speed by 10%
+
+CTRL-C to quit
+```
+

images/map_3d_generation_clouds.png

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+<?xml version="1.0"?>
+<package>
+  <name>teleop_twist_keyboard</name>
+  <version>0.6.2</version>
+  <description>Generic keyboard teleop for twist robots.</description>
+
+  <maintainer email="namniart@gmail.com">Austin Hendrix</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/teleop_twist_keyboard</url>
+
+  <author>Graylin Trevor Jay</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>rospy</run_depend>
+</package>

images/rtabmap.yaml

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+#!/usr/bin/env python
+
+from __future__ import print_function
+
+import roslib; roslib.load_manifest('teleop_twist_keyboard')
+import rospy
+
+from geometry_msgs.msg import Twist
+
+import sys, select, termios, tty
+
+msg = """
+Reading from the keyboard  and Publishing to Twist!
+---------------------------
+Moving around:
+   u    i    o
+   j    k    l
+   m    ,    .
+
+For Holonomic mode (strafing), hold down the shift key:
+---------------------------
+   U    I    O
+   J    K    L
+   M    <    >
+
+t : up (+z)
+b : down (-z)
+
+anything else : stop
+
+q/z : increase/decrease max speeds by 10%
+w/x : increase/decrease only linear speed by 10%
+e/c : increase/decrease only angular speed by 10%
+
+CTRL-C to quit
+"""
+
+moveBindings = {
+        'i':(1,0,0,0),
+        'o':(1,0,0,-1),
+        'j':(0,0,0,1),
+        'l':(0,0,0,-1),
+        'u':(1,0,0,1),
+        ',':(-1,0,0,0),
+        '.':(-1,0,0,1),
+        'm':(-1,0,0,-1),
+        'O':(1,-1,0,0),
+        'I':(1,0,0,0),
+        'J':(0,1,0,0),
+        'L':(0,-1,0,0),
+        'U':(1,1,0,0),
+        '<':(-1,0,0,0),
+        '>':(-1,-1,0,0),
+        'M':(-1,1,0,0),
+        't':(0,0,1,0),
+        'b':(0,0,-1,0),
+    }
+
+speedBindings={
+        'q':(1.1,1.1),
+        'z':(.9,.9),
+        'w':(1.1,1),
+        'x':(.9,1),
+        'e':(1,1.1),
+        'c':(1,.9),
+    }
+
+def getKey():
+    tty.setraw(sys.stdin.fileno())
+    select.select([sys.stdin], [], [], 0)
+    key = sys.stdin.read(1)
+    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
+    return key
+
+
+def vels(speed,turn):
+    return "currently:\tspeed %s\tturn %s " % (speed,turn)
+
+if __name__=="__main__":
+    settings = termios.tcgetattr(sys.stdin)
+
+    pub = rospy.Publisher('cmd_vel', Twist, queue_size = 1)
+    rospy.init_node('teleop_twist_keyboard')
+
+    speed = rospy.get_param("~speed", 0.5)
+    turn = rospy.get_param("~turn", 1.0)
+    x = 0
+    y = 0
+    z = 0
+    th = 0
+    status = 0
+
+    try:
+        print(msg)
+        print(vels(speed,turn))
+        while(1):
+            key = getKey()
+            if key in moveBindings.keys():
+                x = moveBindings[key][0]
+                y = moveBindings[key][1]
+                z = moveBindings[key][2]
+                th = moveBindings[key][3]
+            elif key in speedBindings.keys():
+                speed = speed * speedBindings[key][0]
+                turn = turn * speedBindings[key][1]
+
+                print(vels(speed,turn))
+                if (status == 14):
+                    print(msg)
+                status = (status + 1) % 15
+            else:
+                x = 0
+                y = 0
+                z = 0
+                th = 0
+                if (key == '\x03'):
+                    break
+
+            twist = Twist()
+            twist.linear.x = x*speed; twist.linear.y = y*speed; twist.linear.z = z*speed;
+            twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = th*turn
+            pub.publish(twist)
+
+    except Exception as e:
+        print(e)
+
+    finally:
+        twist = Twist()
+        twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
+        twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
+        pub.publish(twist)
+
+        termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)