Hi Enea,

I tested the teleop_base_keyboard node and its not working.

I ran p2os node on the pioneer $ rosrun p2os_driver p2os
then I checked battery status and other diagnostic using p2os_dashboard on
the base computer $ rosrun p2os_dashboard p2os_dashboard
upto this everything is fine

then I executed teleop_base_keyboard on the base computer  "but its not
working".
vros@ubuntu:~$ rosrun teleop_base teleop_base_keyboard
Reading from keyboard
---------------------------
q/z : increase/decrease max angular and linear speeds by 10%
w/x : increase/decrease max linear speed by 10%
e/c : increase/decrease max angular speed by 10%
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .
anything else : stop
---------------------------

Now I know all the topics to subscribe for but still topic for hokuyo laser
is unknown.  Am I missing something while executing teleop_base_keyboard
node???

Vinay