📌 Overview

teleop-cursor provides an ultra-lightweight, zero-hardware teleoperation node for ROS 2 (rclpy). Instead of requiring dedicated joysticks or cumbersome keyboard combinations, teleop-cursor tracks your screen cursor position relative to display center, translating cursor displacement vectors into smooth linear ($v_x$) and angular ($\omega_z$) velocity commands published directly to the /cmd_vel topic.

Whether you are testing autonomous mobile robots (AMRs), validating navigation pipelines in Gazebo, or demonstrating robot movements, teleop-cursor turns any standard workstation display into a responsive teleoperation interface.

⚡ Key Features

• 🚀 Instant Teleoperation: Zero hardware joysticks required—teleoperate directly using your mouse or trackpad.
• 🔄 Dominant Axis Switching: Automatically calculates magnitude deltas ($\Delta X, \Delta Y$) to distinguish between turning and driving forward/backward.
• 🤖 ROS 2 Native: Built on rclpy and standard geometry_msgs/msg/Twist payloads, ensuring 100% compatibility with TurtleBot3, Nav2, and custom robot controllers.
• 🎯 Dynamic Resolution Handling: Dynamically queries monitor dimensions using pyautogui, auto-centering controls on any resolution (1080p, 4K, ultrawide).
• ⏱️ Real-Time Stream: Operates at a steady 10 Hz control callback frequency with minimal CPU overhead.

🏗️ Architecture

The diagram below demonstrates how host screen cursor events flow through the system to actuate simulated or physical ROS 2 robots:

graph LR
    A[Host Display Cursor] -->|X, Y Coordinates| B[PyAutoGUI Interface]
    B -->|Screen Offset ΔX, ΔY| C[CursorFollowNode]
    
    subgraph Signal Processing Loop 10Hz
        C --> D{Dominant Axis?}
        D -->|"abs(ΔX) > abs(ΔY)"| E[Compute Angular Yaw Speed ωz]
        D -->|"abs(ΔY) >= abs(ΔX)"| F[Compute Linear Speed vx]
        E --> G[Construct Twist Message]
        F --> G
    end

    G -->|Publish| H((/cmd_vel Topic))
    H --> I[TurtleBot3 Gazebo Sim]
    H --> J[Physical Mobile Robot]

For complete mathematical details and signal transformations, see docs/ARCHITECTURE.md.

🎮 Control Mapping

The host display is divided into four primary directional control regions anchored to screen center $(X_c, Y_c)$:

                  ▲  FORWARD (+vx = 0.2 m/s)
                  │  [|ΔY| >= |ΔX|]
                  │
   LEFT ◄─────────┼─────────► RIGHT
(ωz = +1.0 rad/s) │         (ωz = -1.0 rad/s)
 [|ΔX| > |ΔY|]    │          [|ΔX| > |ΔY|]
                  │
                  ▼  BACKWARD (-vx = -0.2 m/s)
                     [|ΔY| >= |ΔX|]

Motion Decision Matrix

🚀 Quickstart

Prerequisites

Ensure you have a working installation of ROS 2 (Humble, Iron, Jazzy, or Rolling) and Python 3.10+:

# Source your ROS 2 environment
source /opt/ros/$ROS_DISTRO/setup.bash

Option A — Pip Install (Recommended)

# Install directly from the repo (adds 'teleop-cursor' CLI to PATH)
pip install git+https://github.com/gaminization/teleop-cursor.git

# Then simply run:
teleop-cursor

Option B — Local Editable Install

git clone https://github.com/gaminization/teleop-cursor.git
cd teleop-cursor
pip install -e .

# Run the CLI
teleop-cursor

Option C — ROS 2 colcon Workspace Build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/gaminization/teleop-cursor.git
cd ~/ros2_ws && colcon build --packages-select teleop_cursor
source install/setup.bash

# Run via ros2 run
ros2 run teleop_cursor teleop-cursor

Option D — Direct Script

git clone https://github.com/gaminization/teleop-cursor.git
cd teleop-cursor
python3 cursor.py

3. Move your mouse across your screen to stream velocity commands to your robot!

🧪 Gazebo Simulation

To test teleop-cursor with TurtleBot3 inside Gazebo:

# Terminal 1: Launch Gazebo Simulation World
export TURTLEBOT3_MODEL=waffle
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

# Terminal 2: Run via pip CLI
teleop-cursor

# Or via ros2 run (after colcon build)
ros2 run teleop_cursor teleop-cursor

For complete simulation launching and debugging guides, see docs/DEVELOPMENT.md.

⚙️ Configuration & Parameters

The node parameters in cursor.py can be easily tuned:

📂 Repository Structure

teleop-cursor/
├── teleop_cursor/        # Pip-installable Python package
│   ├── __init__.py       # Package initialisation & exports
│   └── cursor.py         # CursorFollowNode ROS 2 node implementation
├── resource/             # ROS 2 ament_index resource marker
│   └── teleop_cursor
├── cursor.py             # Backward-compatible script wrapper
├── package.xml           # ROS 2 ament_python package manifest
├── pyproject.toml        # PEP 517/518 build system & metadata
├── setup.py              # Setuptools config (colcon + pip)
├── LICENSE               # MIT Open Source License
├── README.md             # Primary repository landing page
├── CHANGELOG.md          # Version history & release notes
├── CONTRIBUTING.md       # Open-source contribution & PR guide
├── TIMELINE.md           # Project roadmap & release milestones
├── SECURITY.md           # Security & physical robot safety policies
└── docs/
    ├── ARCHITECTURE.md   # Deep-dive architecture & transformation math
    └── DEVELOPMENT.md    # Developer setup, testing & simulation guide

📖 Documentation Directory

• 📐 Technical Architecture: Deep dive into signal processing math, coordinate frame transformations, sequence diagrams, and message definitions.
• 💻 Developer Guide: Workspace setup, colcon building, linting rules (black/flake8), and ROS 2 debugging utilities.
• 🤝 Contributing Guidelines: Standard PR workflows, Conventional Commit requirements, and issue reporting.
• 🗺️ Project Timeline & Roadmap: Milestone progression, release history, and feature roadmap (proportional control, deadband overlay).
• 📜 Changelog: Formal release logs adhering to Keep a Changelog.
• 🔒 Security Policy: Safety standards for teleoperating physical mobile hardware.

📄 License

This project is open-source software licensed under the MIT License.