rosrun teleop_twist_keyboard

$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
/opt/ros/indigo/lib/teleop_twist_keyboard/teleop_twist_keyboard.py:61: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher('cmd_vel', Twist)

Reading from the keyboard  and Publishing to Twist!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

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%
anything else : stop

CTRL-C to quit

currently:	speed 0.5	turn 1