Provides a keyboard teleoperation control for your robot. Just enables a simple increase velocity mechanism both linearly and angularly as well as power off and power on functions.
Sends command velocities to the mobile base interface.
Send power-off and power-on commands to the robot core.
Use a launcher to fire up the keyop command as this will allow you to map the above topics to the appropriate namespace.
You may wish to change the remappings to suit the currently running robot. You can initiate with
roslaunch yocs_keyop robot_core.launch
and use the arrow keys to navigation, with 'e', 'd' to enable or disable the motors and 'q' to quit.