1，进入环境
cd ~/ros2_ws_simulink/src
2，创建包
ros2 pkg create keyboard_pro --build-type ament_python --dependencies rclpy joy_stick_msg
3，创建代码：

# ~/ros2_ws_simulink/src/keyboard_pro/keyboard_pro/keyboard_publisher_simple.py #!/usr/bin/env python3 import rclpy from rclpy.node import Node from joy_stick_msg.msg import JoyStickMsg import sys import select import termios import tty class SimpleKeyboardPublisher(Node): def __init__(self): super().__init__('simple_keyboard_publisher') # 创建发布者 self.publisher_ = self.create_publisher( JoyStickMsg, '/joystick_topic', 10 )

4，设置配置setup.py

# ~/ros2_ws_simulink/src/keyboard_pro/setup.py from setuptoo