keyboard_joy

keyboard_joy is a ROS 2 Python node that publishes sensor_msgs/Joy messages based on keyboard input, acting as a simple joystick replacement. Key-to-axis and key-to-button mappings are configurable via YAML and support both hold and sticky axis modes.

To install dependencies, run:

pip install -r requirements.txt

Movement

• W – Move forward
• S – Move backward
• A – Move left
• D – Move right
• Space – Move up
• Shift – Move down

Rotation

• Arrow Up – Pitch up
• Arrow Down – Pitch down
• Arrow Left – Yaw left
• Arrow Right – Yaw right
• Q – Roll left
• E – Roll right

Mode Buttons

• 1 – Xbox mode
• 2 – Killswitch
• 3 – Auto mode
• 4 – Reference mode