[ROS] teleop_twist_keyboard 터미널 이상하게 출력되는 현상 수정 방법

문제 현상

https://github.com/ros-teleop/teleop_twist_keyboard

GitHub - ros-teleop/teleop_twist_keyboard: Generic Keyboard Teleop for ROS

위 링크의 teleop_twist_keboard를 다른 ros package와 같이 launch하면

아래와 같이 터미널이 정상적으로 출력되지 않음

currently:      speed 0.22      turn 0.187
                                           currently:   speed 0.242     turn 0.2057
                                                                                    currently:  speed


currently:      speed 0.322102  turn 0.2737867
                                               currently:       speed 0.3543122 turn 0.30116537
                                                                                                curre
                                                                                                     977

currently:      speed 0.4715895382      turn 0.40085110747
                                                           currently:   speed 0.51874849202     turn

                                                                                                     urn 0.533532824043
                   currently:   speed 0.690454242879    turn 0.586886106447
                                                                            currently:  speed 0.75949

currently:      speed 0.835449633883    turn 0.710132188801
                                                            currently:  speed 0.918994597271    turn

                                                                                                     urn 0.945185943294
                   currently:   speed 1.22318180897     turn 1.03970453762
                                                                           currently:   speed 1.34549

 

해결방법

https://github.com/ros-teleop/teleop_twist_keyboard/blob/master/teleop_twist_keyboard.py

GitHub - ros-teleop/teleop_twist_keyboard: Generic Keyboard Teleop for ROS

위 파일의 175번줄

tty.setraw(sys.stdin.fileno())를

tty.setcbreak(sys.stdin.fileno())으로 수정

 

ref.

https://stackoverflow.com/questions/52780783/issue-printing-out-to-terminal-with-correct-format

Issue printing out to terminal with correct format