This Python script, key_pose.py, allows for teleoperation of a drone or robot using keyboard inputs. The script reads from the keyboard and publishes PoseStamped messages to control the position and yaw of the robot in a ROS (Robot Operating System) environment.

Setup and Usage

Prerequisites

• ROS (Robot Operating System) installed on your system.
• Python 3.x installed on your system.

Installation

1. Clone the repository:

   git clone https:/NadiaKhodaei/rotors_simulator.git
   cd rotors_simulator

2. Ensure all dependencies are installed:
   Make sure you have rospy and geometry_msgs installed. You can typically install these using rosdep:

   rosdep install rospy geometry_msgs

Running the Script

1. Navigate to the script's directory:

   cd /path/to/rotors_simulator/scripts

2. Run the script:

   python3 key_pose.py

3. Control your robot using the keyboard inputs as described in the key bindings section.

Example

After running the script, you should see the following prompt in your terminal:
Moving around:
Arrow Keys:
↑ ↓ ← →

↑/↓ : move forward/backward in x direction
←/→ : rotate left/right (yaw) in z direction
i/, : move up/down in z direction
k/m : move left/right in y direction
anything else : stop

Adjust speed:

: increase step

: decrease step

s : reset position to default

Author

Nadia Khodaei