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There is a package to read keyboard events straight from /dev: https://github.com/UTNuclearRoboticsPublic/keyboard_reader

A problem is that RViz also listens for hotkeys. For example, pressing 'g' will cause your robot to take off towards a goal if RViz is the active window. There's a PR to fix this but it hasn't been accepted yet. Pressing 'm' will toggle interactive markers, which is pretty confusing for new users. "Where did my markers go!?" https://github.com/ros-visualization/rviz/pull/1243

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