改变键盘按键操作turtlebot

最新推荐文章于 2024-09-15 15:33:26 发布

qintianhaohao

最新推荐文章于 2024-09-15 15:33:26 发布

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分类专栏：笔记 ROS

本文链接：https://blog.csdn.net/qintianhaohao/article/details/81058223

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本文介绍了如何将turtlebot的默认键盘控制方式改为更习惯的WASD操作。通过找到键盘控制文件，复制并修改，实现了键盘操作方式的个性化设置。

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使用键盘操作turtlebot的命令如下：
$ roslaunch turtlebot_teleop keyboard_teleop.launch
但是turtlebot默认的键盘操作不太习惯，还是习惯我们常用的WASD操作方式，于是就自己把键盘操作方式改了。

1 先找到键盘控制的文件，路径为：:/opt/ros/indigo/lib/turtlebot_teleop/turtlebot_teleop_key
2 自己复制一份，就叫turtlebot_teleop_key_qin
3 更改后的文件如下：

#!/usr/bin/env python

# Copyright (c) 2011, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
#    * Redistributions of source code must retain the above copyright
#      notice, this list of conditions and the following disclaimer.
#    * Redistributions in binary form must reproduce the above copyright
#      notice, this list of conditions and the following disclaimer in the
#      documentation and/or other materials provided with the distribution.
#    * Neither the name of the Willow Garage, Inc. nor the names of its
#      contributors may be used to endorse or promote products derived from
#       this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF