Use stamped messages for Jazzy keyboard teleop example (#28)

* Change the teleop_twist_keyboard launch command so it uses stamped messages
* Fix the cmd_vel pub for Jazzy

Author: civerachb-cpr

tutorials/driving.md

@@ -28,24 +28,40 @@ You can install the `teleop_twist_keyboard` package on your PC by running the fo
 ```bash
 sudo apt install ros-galactic-teleop-twist-keyboard
 ```
+
+Once installed, run the node by calling:
+
+```bash
+ros2 run teleop_twist_keyboard teleop_twist_keyboard
+```
 {% endtab %}
 {% tab install_apt humble %}
 ```bash
 sudo apt install ros-humble-teleop-twist-keyboard
 ```
+
+Once installed, run the node by calling:
+
+```bash
+ros2 run teleop_twist_keyboard teleop_twist_keyboard
+```
 {% endtab %}
 {% tab install_apt jazzy %}
 ```bash
 sudo apt install ros-jazzy-teleop-twist-keyboard
 ```
-{% endtab %}
-{% endtabs %}
 
 Once installed, run the node by calling:
 
 ```bash
-ros2 run teleop_twist_keyboard teleop_twist_keyboard
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true
+```
+
+```note
+In Jazzy onwards, the preference is to use stamped messages for control. By default the `teleop_twist_keyboard` package uses unstamped messages. Therefore the `stamped` parameter must be set to `true` manually when starting the node.
 ```
+{% endtab %}
+{% endtabs %}
 
 This will start a CLI interface which allows you to press keys to command the robot to drive.
 
@@ -84,6 +100,25 @@ Both the keyboard and joystick teleop methods work by sending velocity commands
 
 You can manually publish to this topic through the command line by calling:
 
+{% tabs manual_pub %}
+{% tab manual_pub galactic %}
+```warning
+**ROS 2 Galactic is no longer supported.** Please consider upgrading to a newer release
+```
+
+```bash
+ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \
+"linear:
+  x: 0.0
+  y: 0.0
+  z: 0.0
+angular:
+  x: 0.0
+  y: 0.0
+  z: 0.0"
+```
+{% endtab %}
+{% tab manual_pub humble %}
 ```bash
 ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \
 "linear:
@@ -95,6 +130,22 @@ angular:
   y: 0.0
   z: 0.0"
 ```
+{% endtab %}
+{% tab manual_pub jazzy %}
+```bash
+ros2 topic pub /cmd_vel geometry_msgs/msg/TwistStamped \
+"twist:
+  linear:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+  angular:
+    x: 0.0
+    y: 0.0
+    z: 0.0"
+```
+{% endtab %}
+{% endtabs %}
 
 Set the `linear.x` value to drive the robot forwards or backwards, and the `angular.z` value to rotate left or right.