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Teleoperation allows you to manually control the TurtleBot3 robot using keyboard commands. This is essential for testing, exploring environments during SLAM, and verifying robot functionality.

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Starting teleoperation

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Using the alias

The simplest way to start keyboard teleoperation: 
tb3_teleop

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Using the full command

Alternatively, use the complete ROS2 command: 
ros2 run turtlebot3_teleop teleop_keyboard
Before starting teleoperation, ensure a simulation world is already running. The robot must exist in Gazebo before you can control it.

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Keyboard controls

Once teleoperation is active, use these keyboard keys to control the robot:
KeyActionDescription
iMove forwardDrives the robot straight ahead
,Move backwardDrives the robot in reverse
jRotate leftRotates the robot counter-clockwise
lRotate rightRotates the robot clockwise
kStopImmediately stops all robot movement
uForward + leftMoves forward while turning left
oForward + rightMoves forward while turning right
mBackward + leftMoves backward while turning left
.Backward + rightMoves backward while turning right
Press k immediately if the robot behaves unexpectedly. This key stops all movement and is your emergency brake.

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Speed control

Adjust the robot’s velocity while teleoperation is running:
KeyActionDescription
wIncrease linear speedMakes forward/backward movement faster
xDecrease linear speedMakes forward/backward movement slower
aIncrease angular speedMakes rotation faster
dDecrease angular speedMakes rotation slower
sReset to default speedReturns to default velocity settings

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Basic teleoperation workflow

1

Launch simulation

Start a Gazebo world in the first terminal:
tb3_empty
Wait for Gazebo to fully load with the robot visible.
2

Start teleoperation

Open a second terminal and launch keyboard control:
tb3_teleop
3

Control the robot

Use the keyboard keys to move the robot:
  • Press i to move forward
  • Press j or l to rotate
  • Press k to stop
4

Observe in VNC

Watch the robot movement in Gazebo through your browser at:
http://localhost:6080

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Complete workflow example

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Terminal 1: Launch simulation

tb3_world
Wait for the TurtleBot3 world to load completely.

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Terminal 2: Start teleoperation

tb3_teleop
You’ll see output similar to: 
Control Your TurtleBot3!
---------------------------
Moving around:
        u    i    o
        j    k    l
        m    ,    .

w/x : increase/decrease linear velocity
a/d : increase/decrease angular velocity
s : force stop
k : stop smoothly

CTRL-C to quit

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In VNC browser (http://localhost:6080)

Watch the robot respond to your keyboard commands in real-time within the Gazebo simulator.

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Using teleoperation for SLAM

Teleoperation is essential for creating maps with SLAM. Drive the robot slowly to explore and map the environment.
1

Launch simulation world

tb3_world
2

Start SLAM

In a second terminal:
tb3_slam
RViz2 will open showing the map being built in real-time.
3

Drive to explore

In a third terminal:
tb3_teleop
4

Map the environment

Drive slowly using keyboard controls:
  • Use i for forward movement
  • Use j and l for smooth turns
  • Avoid rapid movements for better map quality
  • Cover all areas you want mapped
When mapping with SLAM, move slowly and smoothly. Rapid movements or high speeds can reduce map quality and accuracy.

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Best practices

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Smooth control

  • Press keys briefly: Tap keys rather than holding them down for more precise control
  • Use stop key frequently: Press k between movements to avoid overshooting
  • Start slow: Begin with reduced speeds (press x and d) when learning

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SLAM mapping tips

  • Drive slowly: Slower speeds produce better quality maps
  • Smooth turns: Use u and o for gradual curved paths instead of sharp rotations
  • Complete coverage: Ensure all areas are visible to the robot’s sensors
  • Return to start: For best results, return to your starting position to close the loop

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Safety

  • Know your stop key: k stops the robot immediately
  • Monitor in VNC: Always watch the robot in Gazebo while controlling
  • Test in empty world first: Practice in tb3_empty before complex environments

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Troubleshooting

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Robot doesn’t respond to keys

1

Check simulation is running

Verify Gazebo is running with the robot loaded:
ros2 node list
You should see TurtleBot3-related nodes.
2

Verify topic connection

Check that velocity commands are being published:
ros2 topic echo /cmd_vel
Press movement keys and confirm messages appear.
3

Restart teleoperation

Press Ctrl+C to stop teleop, then restart:
tb3_teleop

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Keys don’t work

  • Focus the terminal: Click on the teleoperation terminal window
  • Check keyboard layout: Ensure you’re using a QWERTY keyboard layout
  • Disable caps lock: CAPS LOCK may interfere with key recognition

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Robot moves erratically

1

Stop the robot

Press k immediately to stop all movement.
2

Reset velocity

Press s to reset to default speed settings.
3

Reduce speed

Press x and d several times to reduce both linear and angular velocity.
4

Test slowly

Try gentle movements with the reduced speed.

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Simulation lags

  • Allocate more resources to Docker (4+ CPU cores, 8GB+ RAM)
  • Use a simpler world like tb3_empty
  • Try software rendering mode: tb3_empty_sw
  • Close other resource-intensive applications

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Advanced usage

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Custom velocity limits

You can modify maximum velocities by editing the teleop node parameters or creating a custom launch file with adjusted limits.

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Multiple robots

For controlling multiple robots, remap the cmd_vel topic: 
ros2 run turtlebot3_teleop teleop_keyboard --ros-args --remap /cmd_vel:=/robot1/cmd_vel

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Joystick control

While this guide focuses on keyboard control, TurtleBot3 also supports joystick/gamepad control through additional ROS2 packages.

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