diff --git a/catkin_ws/src/teleop_twist_keyboard/CHANGELOG.rst b/catkin_ws/src/teleop_twist_keyboard/CHANGELOG.rst
new file mode 100644
index 0000000000000000000000000000000000000000..8d8d204ce41a19687ce7049dc4c5341633d18e23
--- /dev/null
+++ b/catkin_ws/src/teleop_twist_keyboard/CHANGELOG.rst
@@ -0,0 +1,40 @@
+1.0.0 (2020-06-26)
+------------------
+* Implement repeat rate and key timeout
+* Update readme about publishing to another topic.
+* Contributors: Austin, trainman419
+
+0.6.2 (2018-10-21)
+------------------
+* Replace tabs with spaces, fixes `#15 <https://github.com/ros-teleop/teleop_twist_keyboard/issues/15>`_
+* Merge pull request `#13 <https://github.com/ros-teleop/teleop_twist_keyboard/issues/13>`_ from asukiaaa/patch-3
+ Add rosrun command to specify values
+* Add rosrun command to specify values
+* Contributors: Asuki Kono, Austin, trainman419
+
+0.6.1 (2018-05-02)
+------------------
+* Merge pull request `#11 <https://github.com/ros-teleop/teleop_twist_keyboard/issues/11>`_ from MatthijsBurgh/patch-1
+ Correct exception handling; Python3 print compatible
+* import print from future
+* Print python3 compatible
+* correct Exception handling
+* Merge pull request `#7 <https://github.com/ros-teleop/teleop_twist_keyboard/issues/7>`_ from lucasw/speed_params
+ set linear and turn speed via rosparams
+* Using tabs instead of spaces to match rest of file
+* set linear and turn speed via rosparams
+* Contributors: Austin, Lucas Walter, Matthijs van der Burgh
+
+0.6.0 (2016-03-21)
+------------------
+* Better instruction formatting
+* support holonomic base, send commmand with keyboard down
+* Fixing queue_size warning
+* Create README.md
+* Update the description string in package.xml
+* Contributors: Austin, Kei Okada, LiohAu, Mike Purvis, kk6axq, trainman419
+
+0.5.0 (2014-02-11)
+------------------
+* Initial import from brown_remotelab
+* Convert to catkin
diff --git a/catkin_ws/src/teleop_twist_keyboard/CMakeLists.txt b/catkin_ws/src/teleop_twist_keyboard/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..86d90cb1be78fd87efc158078d6b7265248b26dc
--- /dev/null
+++ b/catkin_ws/src/teleop_twist_keyboard/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(teleop_twist_keyboard)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+catkin_install_python(PROGRAMS
+ teleop_twist_keyboard.py
+ DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
diff --git a/catkin_ws/src/teleop_twist_keyboard/README.md b/catkin_ws/src/teleop_twist_keyboard/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..000d050901274f62507ae495215d8e9d85277666
--- /dev/null
+++ b/catkin_ws/src/teleop_twist_keyboard/README.md
@@ -0,0 +1,74 @@
+# teleop_twist_keyboard
+Generic Keyboard Teleop for ROS
+
+# Launch
+Run.
+```
+rosrun teleop_twist_keyboard teleop_twist_keyboard.py
+```
+
+With custom values.
+```
+rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.9 _turn:=0.8
+```
+
+Publishing to a different topic (in this case `my_cmd_vel`).
+```
+rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=my_cmd_vel
+```
+
+# Usage
+```
+Reading from the keyboard and Publishing to Twist!
+---------------------------
+Moving around:
+ u i o
+ j k l
+ m , .
+
+For Holonomic mode (strafing), hold down the shift key:
+---------------------------
+ U I O
+ J K L
+ M < >
+
+t : up (+z)
+b : down (-z)
+
+anything else : stop
+
+q/z : increase/decrease max speeds by 10%
+w/x : increase/decrease only linear speed by 10%
+e/c : increase/decrease only angular speed by 10%
+
+CTRL-C to quit
+```
+
+# Repeat Rate
+
+If your mobile base requires constant updates on the cmd\_vel topic, teleop\_twist\_keyboard can be configured to repeat the last command at a fixed interval, using the `repeat_rate` private parameter.
+
+For example, to repeat the last command at 10Hz:
+
+```
+rosrun teleop_twist_keyboard teleop_twist_keyboard.py _repeat_rate:=10.0
+```
+
+It is _highly_ recommened that the repeat rate be used in conjunction with the key timeout, to prevent runaway robots.
+
+# Key Timeout
+
+Teleop\_twist\_keyboard can be configured to stop your robot if it does not receive any key presses in a configured time period, using the `key_timeout` private parameter.
+
+For example, to stop your robot if a keypress has not been received in 0.6 seconds:
+```
+rosrun teleop_twist_keyboard teleop_twist_keyboard.py _key_timeout:=0.6
+```
+
+It is recommended that you set `key_timeout` higher than the initial key repeat delay on your system (This delay is 0.5 seconds by default on Ubuntu, but can be adjusted).
+
+# Twist with header
+Publishing a `TwistStamped` message instead of `Twist` can be enabled with the `stamped` private parameter. Additionally the `frame_id` of the `TwistStamped` message can be set with the `frame_id` private parameter.
+```
+rosrun teleop_twist_keyboard teleop_twist_keyboard.py _stamped:=True _frame_id:=base_link
+```
\ No newline at end of file
diff --git a/catkin_ws/src/teleop_twist_keyboard/package.xml b/catkin_ws/src/teleop_twist_keyboard/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..84add0221dc56865e5c80751a7f413d92c15979f
--- /dev/null
+++ b/catkin_ws/src/teleop_twist_keyboard/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<package>
+ <name>teleop_twist_keyboard</name>
+ <version>1.0.0</version>
+ <description>Generic keyboard teleop for twist robots.</description>
+
+ <maintainer email="namniart@gmail.com">Austin Hendrix</maintainer>
+
+ <license>BSD</license>
+
+ <url type="website">http://wiki.ros.org/teleop_twist_keyboard</url>
+
+ <author>Graylin Trevor Jay</author>
+
+ <buildtool_depend>catkin</buildtool_depend>
+ <run_depend>geometry_msgs</run_depend>
+ <run_depend>rospy</run_depend>
+</package>
diff --git a/catkin_ws/src/teleop_twist_keyboard/teleop_twist_keyboard.py b/catkin_ws/src/teleop_twist_keyboard/teleop_twist_keyboard.py
new file mode 100755
index 0000000000000000000000000000000000000000..a85e1cc5c0c6bd10fa8779bf6ad6b4ed18c36f2a
--- /dev/null
+++ b/catkin_ws/src/teleop_twist_keyboard/teleop_twist_keyboard.py
@@ -0,0 +1,265 @@
+#!/usr/bin/env python
+
+from __future__ import print_function
+
+import threading
+
+import roslib; roslib.load_manifest('teleop_twist_keyboard')
+import rospy
+
+from geometry_msgs.msg import Twist
+from geometry_msgs.msg import TwistStamped
+
+import sys
+from select import select
+
+if sys.platform == 'win32':
+ import msvcrt
+else:
+ import termios
+ import tty
+
+
+TwistMsg = Twist
+
+msg = """
+Reading from the keyboard and Publishing to Twist!
+---------------------------
+Moving around:
+ u i o
+ j k l
+ m , .
+
+For Holonomic mode (strafing), hold down the shift key:
+---------------------------
+ U I O
+ J K L
+ M < >
+
+t : up (+z)
+b : down (-z)
+
+anything else : stop
+
+q/z : increase/decrease max speeds by 10%
+w/x : increase/decrease only linear speed by 10%
+e/c : increase/decrease only angular speed by 10%
+
+CTRL-C to quit
+"""
+
+moveBindings = {
+ 'i':(1,0,0,0),
+ 'o':(1,0,0,-1),
+ 'j':(0,0,0,1),
+ 'l':(0,0,0,-1),
+ 'u':(1,0,0,1),
+ ',':(-1,0,0,0),
+ '.':(-1,0,0,1),
+ 'm':(-1,0,0,-1),
+ 'O':(1,-1,0,0),
+ 'I':(1,0,0,0),
+ 'J':(0,1,0,0),
+ 'L':(0,-1,0,0),
+ 'U':(1,1,0,0),
+ '<':(-1,0,0,0),
+ '>':(-1,-1,0,0),
+ 'M':(-1,1,0,0),
+ 't':(0,0,1,0),
+ 'b':(0,0,-1,0),
+ }
+
+speedBindings={
+ 'q':(1.1,1.1),
+ 'z':(.9,.9),
+ 'w':(1.1,1),
+ 'x':(.9,1),
+ 'e':(1,1.1),
+ 'c':(1,.9),
+ }
+
+class PublishThread(threading.Thread):
+ def __init__(self, rate):
+ super(PublishThread, self).__init__()
+ self.publisher = rospy.Publisher('cmd_vel', TwistMsg, queue_size = 1)
+ self.x = 0.0
+ self.y = 0.0
+ self.z = 0.0
+ self.th = 0.0
+ self.speed = 0.0
+ self.turn = 0.0
+ self.condition = threading.Condition()
+ self.done = False
+
+ # Set timeout to None if rate is 0 (causes new_message to wait forever
+ # for new data to publish)
+ if rate != 0.0:
+ self.timeout = 1.0 / rate
+ else:
+ self.timeout = None
+
+ self.start()
+
+ def wait_for_subscribers(self):
+ i = 0
+ while not rospy.is_shutdown() and self.publisher.get_num_connections() == 0:
+ if i == 4:
+ print("Waiting for subscriber to connect to {}".format(self.publisher.name))
+ rospy.sleep(0.5)
+ i += 1
+ i = i % 5
+ if rospy.is_shutdown():
+ raise Exception("Got shutdown request before subscribers connected")
+
+ def update(self, x, y, z, th, speed, turn):
+ self.condition.acquire()
+ self.x = x
+ self.y = y
+ self.z = z
+ self.th = th
+ self.speed = speed
+ self.turn = turn
+ # Notify publish thread that we have a new message.
+ self.condition.notify()
+ self.condition.release()
+
+ def stop(self):
+ self.done = True
+ self.update(0, 0, 0, 0, 0, 0)
+ self.join()
+
+ def run(self):
+ twist_msg = TwistMsg()
+
+ if stamped:
+ twist = twist_msg.twist
+ twist_msg.header.stamp = rospy.Time.now()
+ twist_msg.header.frame_id = twist_frame
+ else:
+ twist = twist_msg
+ while not self.done:
+ if stamped:
+ twist_msg.header.stamp = rospy.Time.now()
+ self.condition.acquire()
+ # Wait for a new message or timeout.
+ self.condition.wait(self.timeout)
+
+ # Copy state into twist message.
+ twist.linear.x = self.x * self.speed
+ twist.linear.y = self.y * self.speed
+ twist.linear.z = self.z * self.speed
+ twist.angular.x = 0
+ twist.angular.y = 0
+ twist.angular.z = self.th * self.turn
+
+ self.condition.release()
+
+ # Publish.
+ self.publisher.publish(twist_msg)
+
+ # Publish stop message when thread exits.
+ twist.linear.x = 0
+ twist.linear.y = 0
+ twist.linear.z = 0
+ twist.angular.x = 0
+ twist.angular.y = 0
+ twist.angular.z = 0
+ self.publisher.publish(twist_msg)
+
+
+def getKey(settings, timeout):
+ if sys.platform == 'win32':
+ # getwch() returns a string on Windows
+ key = msvcrt.getwch()
+ else:
+ tty.setraw(sys.stdin.fileno())
+ # sys.stdin.read() returns a string on Linux
+ rlist, _, _ = select([sys.stdin], [], [], timeout)
+ if rlist:
+ key = sys.stdin.read(1)
+ else:
+ key = ''
+ termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
+ return key
+
+def saveTerminalSettings():
+ if sys.platform == 'win32':
+ return None
+ return termios.tcgetattr(sys.stdin)
+
+def restoreTerminalSettings(old_settings):
+ if sys.platform == 'win32':
+ return
+ termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings)
+
+def vels(speed, turn):
+ return "currently:\tspeed %s\tturn %s " % (speed,turn)
+
+if __name__=="__main__":
+ settings = saveTerminalSettings()
+
+ rospy.init_node('teleop_twist_keyboard')
+
+ speed = rospy.get_param("~speed", 0.5)
+ turn = rospy.get_param("~turn", 1.0)
+ speed_limit = rospy.get_param("~speed_limit", 1000)
+ turn_limit = rospy.get_param("~turn_limit", 1000)
+ repeat = rospy.get_param("~repeat_rate", 0.0)
+ key_timeout = rospy.get_param("~key_timeout", 0.5)
+ stamped = rospy.get_param("~stamped", False)
+ twist_frame = rospy.get_param("~frame_id", '')
+ if stamped:
+ TwistMsg = TwistStamped
+
+ pub_thread = PublishThread(repeat)
+
+ x = 0
+ y = 0
+ z = 0
+ th = 0
+ status = 0
+
+ try:
+ pub_thread.wait_for_subscribers()
+ pub_thread.update(x, y, z, th, speed, turn)
+
+ print(msg)
+ print(vels(speed,turn))
+ while(1):
+ key = getKey(settings, key_timeout)
+ if key in moveBindings.keys():
+ x = moveBindings[key][0]
+ y = moveBindings[key][1]
+ z = moveBindings[key][2]
+ th = moveBindings[key][3]
+ elif key in speedBindings.keys():
+ speed = min(speed_limit, speed * speedBindings[key][0])
+ turn = min(turn_limit, turn * speedBindings[key][1])
+ if speed == speed_limit:
+ print("Linear speed limit reached!")
+ if turn == turn_limit:
+ print("Angular speed limit reached!")
+ print(vels(speed,turn))
+ if (status == 14):
+ print(msg)
+ status = (status + 1) % 15
+ else:
+ # Skip updating cmd_vel if key timeout and robot already
+ # stopped.
+ if key == '' and x == 0 and y == 0 and z == 0 and th == 0:
+ continue
+ x = 0
+ y = 0
+ z = 0
+ th = 0
+ if (key == '\x03'):
+ break
+
+ pub_thread.update(x, y, z, th, speed, turn)
+
+ except Exception as e:
+ print(e)
+
+ finally:
+ pub_thread.stop()
+ restoreTerminalSettings(settings)