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Added keyboard control docs

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wittenator 2023-12-02 19:50:54 +01:00
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README.md
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@ -11,11 +11,13 @@ The robot control is implemented in the `ft24_control` package and can be launch
`ros2 launch ft24_control launch_robot.py`.\ `ros2 launch ft24_control launch_robot.py`.\
This launch file brings up the `ros2_control`-based nodes that serve as the interface between the physical robot and the ROS2 software stack. This launch file brings up the `ros2_control`-based nodes that serve as the interface between the physical robot and the ROS2 software stack.
## Remote Control
The launch file `ros2 launch src/dcaitirobot/launch/remote_control_launch.py` launches the nodes required to interface the PS3 controller and publish its commands as `Twist` messages in ROS.
## Simulation Start ## Simulation Start
For the Gazebo simulation, run: For the Gazebo simulation, run:
``` ```
ros2 launch ft24_control launch_sim.py ros2 launch ft24_control launch_sim.py
``` ```
You can control the car with the keyboard by publishing Twist commands via:
```
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/ackermann_steering_controller/reference_unstamped
```