Installing

sudo apt-get install ros-$ROS_DISTRO-teleop-twist-keyboard

Running

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Controls

See the on-screen instructions:

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