RQT Teleop

Universal teleoperation GUI for robots based on ROS 2.

Features

• Keyboard teleoperation
• Publish geometry_msgs/msg/TwistStamped
• Drive linear.x, linear.y, and angular.z
• Commands automatically zero-out when keys are not being pressed
• Pressing multiple keys at the same time works properly
• Current command is continuously published at 20 Hz
• Select available TwistStamped topics from the ROS graph or enter a topic manually

Demo

Run

ros2 run rqt_teleop rqt_teleop

Or open Plugins -> Topics -> Teleop in rqt.

Controls

• W / S: +/- linear.x

• A / D: +/- linear.y

• Q / E: +/- angular.z

• R / F: +/- linear.x speed

• T / G: +/- linear.y speed

• Y / H: +/- angular.z speed

• U / J: +/- linear.x step

• I / K: +/- linear.y step

• O / L: +/- angular.z step

• Commands automatically zero-out when keys are not being pressed

• Pressing multiple keys at the same time works properly