ros-noetic-teleop-twist-keyboard.win.patch

diff --git a/teleop_twist_keyboard.py b/teleop_twist_keyboard.py
index 3717408..a5be99b 100755
--- a/teleop_twist_keyboard.py
+++ b/teleop_twist_keyboard.py
@@ -9,7 +9,15 @@
 
 from geometry_msgs.msg import Twist
 
-import sys, select, termios, tty
+import sys, select
+
+if sys.platform == 'win32':
+    import msvcrt
+else:
+    import termios
+    import tty
+
+
 
 msg = """
 Reading from the keyboard  and Publishing to Twist!
@@ -147,22 +155,32 @@ def run(self):
         self.publisher.publish(twist)
 
 
-def getKey(key_timeout):
-    tty.setraw(sys.stdin.fileno())
-    rlist, _, _ = select.select([sys.stdin], [], [], key_timeout)
-    if rlist:
-        key = sys.stdin.read(1)
+def getKey(settings):
+    if sys.platform == 'win32':
+        # getwch() returns a string on Windows
+        key = msvcrt.getwch()
     else:
-        key = ''
-    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
+        tty.setraw(sys.stdin.fileno())
+        # sys.stdin.read() returns a string on Linux
+        key = sys.stdin.read(1)
+        termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
     return key
 
+def saveTerminalSettings():
+    if sys.platform == 'win32':
+        return None
+    return termios.tcgetattr(sys.stdin)
+
+def restoreTerminalSettings(old_settings):
+    if sys.platform == 'win32':
+        return
+    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings)
 
 def vels(speed, turn):
     return "currently:\tspeed %s\tturn %s " % (speed,turn)
 
 if __name__=="__main__":
-    settings = termios.tcgetattr(sys.stdin)
+    settings = saveTerminalSettings()
 
     rospy.init_node('teleop_twist_keyboard')
 
@@ -188,7 +206,7 @@ def vels(speed, turn):
         print(msg)
         print(vels(speed,turn))
         while(1):
-            key = getKey(key_timeout)
+            key = getKey(settings)
             if key in moveBindings.keys():
                 x = moveBindings[key][0]
                 y = moveBindings[key][1]
@@ -221,5 +239,5 @@ def vels(speed, turn):
 
     finally:
         pub_thread.stop()
+        restoreTerminalSettings(settings)
 
-        termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)