Install teleop_twist_keyboard package
sudo apt-get install ros-noetic-teleop-twist-keyboard
- Run folowing commands in seprate terminals:
$ roslaunch ros_robot rviz.launch //terminal 1
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py //terminal 2
$ python3 controller.py //terminal 3
Once teleop_twist_keyboard is running, you can see instructions on how to controll the robot with keyboard.