Welcome to MicroROS Self-balancing Robot Car repository
1.Keyboard remote control
Keyboard remote control
Note: The virtual machine needs to be in the same LAN as the car, and the ROS_DOMAIN_ID needs to be consistent. You can check [Must Read Before Use] to set the IP and ROS_DOMAIN_ID on the board.
1. Start and connect the agent
Take the supporting virtual machine as an example, enter the following command to start the agent,
sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:humble udp4 --port 8899 -v4 
Then, turn on the car switch and wait for the car to connect to the agent. The connection is successful as shown in the figure below,
2. Start the keyboard control program
2.1 Code path
Virtual machine code path:
xxxxxxxxxx/home/yahboom/yahboomcar_ws/src/yahboomcar_ctrl/yahboomcar_ctrl
2.2 Run command
Take the matching virtual machine as an example, you can directly enter it in the terminal,
xxxxxxxxxxros2 run yahboomcar_ctrl yahboom_keyboard 
Then, according to the instructions below, press the corresponding button to control the movement of the car,
2.3 Direction control
| Button | Linear angular velocity | Direction | Button | Linear angular velocity | Direction |
|---|---|---|---|---|---|
| 【i】 or 【I】 | 【linear，0】 | Go forward | 【u】 or 【U】 | 【linear，angular】 | Turn left |
| 【,】 | 【-linear，0】 | Go backward | 【o】 or 【O】 | 【linear，-angular】 | Turn right |
| 【j】 or 【J】 | 【0， angular】 | Rotate left | 【m】 or 【M】 | 【-linear，-angular】 | Reverse left |
| 【l】 or 【L】 | 【0，- angular】 | Rotate right | 【.】 | 【-linear，angular】 | Reverse right |
2.4 Speed control
| Button | Speed change | Button | Speed change |
|---|---|---|---|
| 【q】 | Increase both linear and angular velocities by 10% | 【z】 | Decrease both linear and angular velocities by 10% |
| 【w】 | Increase only linear velocity by 10% | 【x】 | Decrease only linear velocity by 10% |
| 【e】 | Increase only angular velocity by 10% | 【c】 | Decrease only angular velocity by 10% |
| 【t】 | Switch between linear velocity X-axis and Y-axis | 【s】 | Stop keyboard control |
Note: Since the car is a two-wheeled balancing structure and cannot move sideways, the 【t】 key is meaningless.