Controlling the simulated robot on RViz

Setup

  1. Install teleop twist keyboard

    sudo apt update
sudo apt install ros-noetic-teleop-twist-keyboard

  2. Start the driver

    roslaunch robotont_driver fake_driver.launch

  3. Set the fixed frame to odom in RViz

    files/pictures/frame_odom_img.png

Controlling the robot using teleop twist keyboard

  1. Open a new terminal window

  2. Run the following command:

    rosrun teleop_twist_keyboard teleop_twist_keyboard.py

  3. Use the following keys to move the robot:

    files/pictures/twist_keys.png

    Hint

    Notice that the teleop node receives keypresses only when the terminal window is active.

    Tip

    Use CTRL + C to stop the node.