增加键盘遥控移动时，可以一边前进一边转弯的功能

src/teleop_twist_keyboard/teleop_twist_keyboard.py

@@ -15,25 +15,19 @@ from ros_arduino_msgs.srv import CameraControl
 import time
 
 msg = """
-Reading from the keyboard  and Publishing to Twist!
+从键盘读取控制命令遥控小车移动,控制按键如下:
 ---------------------------
-Moving around:
-        i
+   u    i    o
    j    k    l
-        ,
+   m    ,    .
 
-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%
-1/2 : increase/decrease up/down servo angle(0-180°) by 5°
-3/4 : increase/decrease left/right servo angle(0-180°) by 5°
 
-1 : Camera UP
-2 : Camera Down
-3 : Camera Left
-4 : Camera Right
+1/2 : 相机向上/向下转动
+3/4 : 相机向左/向右转动
 
 CTRL-C to quit
 """
@@ -43,6 +37,10 @@ moveBindings = {
         'j':(0,0,0,1),
         'l':(0,0,0,-1),
         ',':(-1,0,0,0),
+        'u':(1,0,0,1),
+        'o':(1,0,0,-1),
+        'm':(-1,0,0,-1),
+        '.':(-1,0,0,1),
     }
 
 speedBindings={
@@ -76,7 +74,7 @@ def getKey():
 
 
 def vels(speed,turn):
-    return "currently:\tspeed %s\tturn %s " % (speed,turn)
+    return "当前控制速度:  线速度: %s  角速度: %s" % (speed,turn)
 
 def angles(angle):
     return "currently:\tangle %s " % (angle)
@@ -98,7 +96,7 @@ if __name__=="__main__":
     pub = rospy.Publisher('cmd_vel', Twist, queue_size = 2)
     rospy.init_node('teleop_twist_keyboard')
 
-    speed = rospy.get_param("~speed", 0.12)
+    speed = rospy.get_param("~speed", 0.30)
     turn = rospy.get_param("~turn", 1.0)
 
     x = 0