Using keyboard to move robot around

As you remember, in our earlier sections, we were able to move the robot around using keyboard. To do so, we need to start a new Terminal window:

                $ ros2 run teleop_twist_keyboard teleop_twist_keyboard
            

While that window has focus, we could make our robot move. To recreate this functionality in our new setup, we need (same as before) add the joint state publisher:

                params = { 'use_sim_time': use_sim_time}
                joint_state_publisher_node = Node(
                    package='joint_state_publisher',
                    executable='joint_state_publisher',
                    name='joint_state_publisher',
                    parameters=[params],
                    #condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui'))
                )

                ...

                # ... and call it:
                ld.add_action(joint_state_publisher_node)
            

We also need to add the following code to package.xml:

Note, that we do not have to uncomment libgazebo_ros_joint_state_publisher.so (commented out in gazebo_control.xacro). I didn't try to investigate why it works, but the fact is, it does.