Control a Kaia.ai robot (physical or simulated) using a keyboard.
Launch keyboard teleop for the default robot model. This is the most common usage scenario.
ros2 run kaiaai_teleop teleop_keyboard
Now you should be able to control your robot using your PC keyboard. Make sure your physical or simulated robot is up and running. See kaiaai for instructions on bringing your robot up physically and in a simulation.
root@e3043f4ccd4c:/ros_ws# ros2 run kaiaai_teleop teleop_keyboard
YAML file name : /ros_ws/install/makerspet_mini/share/makerspet_mini/config/teleop_keyboard.yaml
Max linear velocity 0.200 Max angular velocity 3.860
Control Kaia.ai-compatible Robot
--------------------------------
Moving around:
w
a s d
x
w/x : increase/decrease linear velocity
a/d : increase/decrease angular velocity
s : keep straight
CAPS : large step
Space : force stop
CTRL-C to quit
Launch keyboard teleop for makerspet_loki robot model.
ros2 run kaiaai_teleop teleop_keyboard robot_model:=makerspet_loki
Launch keyboard teleop and use /path/to/teleop_keyboard.yaml configuration file.
ros2 run kaiaai_teleop teleop_keyboard --ros-args --params-file /path/to/teleop_keyboard.yaml
Launch keyboard teleop and use makerspet_loki robot's configuration file.
ros2 run kaiaai_teleop teleop_keyboard --ros-args --params-file `ros2 pkg prefix --share makerspet_loki`/config/teleop_keyboard.yaml
teleop_keyboard.yaml is a configuration file containing robot speed parameters:
- minimum and maximum linear and angular speeds
- large and small steps for the linear and angular speeds
teleop_keyboard_node:
ros__parameters:
max_lin_vel: 0.2
max_ang_vel: 3.86
lin_vel_step: 0.05
ang_vel_step: 0.2
lin_vel_step_large: 0.2
ang_vel_step_large: 2.5
Edit config/teleop_keyboard.yaml in a robot package to mod the robot speeds to your liking.
teleop_keyboard node cannot be launched from a launch file, including .launch.py.
If you try doing that, you will get an error (in Linux) termios.error: (25, 'Inappropriate ioctl for device').
root@e3043f4ccd4c:/ros_ws# ros2 launch kaiaai_bringup teleop_keyboard.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2024-09-30-00-54-45-663064-e3043f4ccd4c-397
[INFO] [launch]: Default logging verbosity is set to INFO
Teleop params: /ros_ws/install/makerspet_mini/share/makerspet_mini/config/teleop_keyboard.yaml
[INFO] [teleop_keyboard-1]: process started with pid [398]
[teleop_keyboard-1] Traceback (most recent call last):
[teleop_keyboard-1] File "/ros_ws/install/kaiaai_teleop/lib/kaiaai_teleop/teleop_keyboard", line 33, in <module>
[teleop_keyboard-1] sys.exit(load_entry_point('kaiaai-teleop', 'console_scripts', 'teleop_keyboard')())
[teleop_keyboard-1] File "/ros_ws/build/kaiaai_teleop/kaiaai_teleop/teleop_keyboard.py", line 194, in main
[teleop_keyboard-1] node = TeleopKeyboardNode(start_parameter_services=False)
[teleop_keyboard-1] File "/ros_ws/build/kaiaai_teleop/kaiaai_teleop/teleop_keyboard.py", line 62, in __init__
[teleop_keyboard-1] self.tty_attr = None if os.name == 'nt' else termios.tcgetattr(sys.stdin)
[teleop_keyboard-1] termios.error: (25, 'Inappropriate ioctl for device')
[ERROR] [teleop_keyboard-1]: process has died [pid 398, exit code 1, cmd '/ros_ws/install/kaiaai_teleop/lib/kaiaai_teleop/teleop_keyboard --ros-args --params-file /ros_ws/install/makerspet_mini/share/makerspet_mini/config/teleop_keyboard.yaml'].
root@e3043f4ccd4c:/ros_ws#
The error above because teleop_keyboard.py needs direct access to TTY STDIN device in order to
capture keyboard strokes.