# multi_input_control

**Repository Path**: robot_workspace/multi_input_control

## Basic Information

- **Project Name**: multi_input_control
- **Description**: Ros Robot 多种控制方式，包含键盘、UI、PS手柄控制等
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-12-20
- **Last Updated**: 2025-12-28

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# multi_input_control

## Project Overview

`multi_input_control` is a ROS-based multi-input control package that enables users to control robot motion via keyboard. It supports multiple control modes, including velocity and direction control, and offers both a graphical user interface (GUI) and a command-line interface.

## Key Features

- Keyboard-based robot motion control (linear and angular velocities).
- Smooth control for more stable robot movement.
- Graphical User Interface (GUI) for intuitive operation.
- Supports publishing both Ackermann and Twist type control commands.

## Main Components

- `keyboard_control.py`: Core control logic, including velocity calculation and smoothing.
- `keyboard_control_node.py`: ROS node that captures keyboard input and controls the robot.
- `keyboard_ctrl_tk.py`: GUI module providing a Tkinter-based user interface.
- `keyboard_ctrl_tk_node.py`: GUI control node handling user input and publishing control commands.
- Launch files: Used to start keyboard control nodes and GUI nodes.

## Installation Instructions

1. Ensure that a ROS environment is installed (e.g., ROS Noetic or Melodic).

2. Clone this repository into the `src` directory of your ROS workspace:

   ```bash
   cd ~/catkin_ws/src
   git clone https://gitee.com/ros1_robot/multi_input_control.git
   ```

3. Navigate back to the root of your workspace and compile:

   ```bash
   cd ..
   catkin_make install
   ```

4. Source the setup environment:

   ```bash
   source install/setup.bash
   ```

## Usage

### Launch Keyboard Control Node

Run the following command to start the keyboard control node:

```bash
roslaunch multi_input_control keyboard_control.launch
```

### Launch Graphical Interface Control

Run the following command to start the GUI-based keyboard control:

```bash
roslaunch multi_input_control keyboard_ctrl_tk.launch
```

Run the following command to launch purely GUI-based robot motion control:

```bash
roslaunch multi_input_control robot_motion_control.launch
```

### Launch PS3 Joystick Control

Run the following command to start the PS3 joystick control node:

```bash
roslaunch multi_input_control joystick_control.launch
```

### Use Default Twist Control

Run the following command to use ROS's built-in keyboard teleoperation for Twist messages:

```bash
roslaunch multi_input_control teleop_twist_keyboard.launch
```

## Contribution Guidelines

Contributions and suggestions for improvements are welcome! Please follow these steps:

1. Fork this repository.
2. Create a new feature branch.
3. Commit your changes.
4. Submit a Pull Request.