How to implement a custom teleop node?

Hi everyone. I have a Raspberry Pi running ROS2 Foxy connected via usb to an Arduino Uno.

The first sends custom commands ("packets" created by me) to the other through serial (/dev/ttyACM0) in order to move a robot for 1 second every time a command is received.

Since I stay connected via SSH to the RPi, I would like to implement a node that allows me to move the robot as long as I keep certain keys pressed on my keyboard.

How can I do that? Is there a way to reuse my custom commands mechanism, or do I have to come up with something else?

Asked by ROS_user on 2021-09-11 14:09:28 UTC

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Answers

Try to code a callback that when you press your keyboard does something (implement the logic). There is plenty of tutorials around the ros wiki and even you could copy the code of the turtlebots tutorials. I think there was a tutorial of teleoperating it with some code but I´m not sure. Hope it helps!

Asked by Ronro on 2021-09-13 15:30:21 UTC