The mrvn2_teleop repository contains some tele operation tools.

The node allows the user to use the keyboard also on a terminal session to steer remotely a roboter base. This node allows also the movements from an omnidirectional roboter base.

The arrow key allow a movement in all directions and rotation. See the following diagram.

Starting the turtle simulation

ros2 run turtlesim turtlesim_node

Running the keyboard tele operations for the turtle simulation

ros2 run mrvn2_teleop mrvn2_teleop_key_node --ros-args --remap /cmd_vel:=turtle1/cmd_vel