Improve MoveIt Servo tutorial with keyboard teleop instructions.

Author: tahsinkose

doc/realtime_servo/realtime_servo_tutorial.rst

@@ -120,6 +120,39 @@ The ``moveit_servo/config`` folder contains two examples of converting `SpaceNav
 
 ``spacenav_cpp.launch`` launches a C++ node that does the same thing but with less latency. We do not plan to accept C++ pull requests for more controller types because there is a lot of overhead involved in supporting them.
 
+Configuring Keyboard as a Control Device
+------------------------------------------------------
+Assuming you are in ``~/ws_moveit`` folder already, ``cd`` to ``src/universal_robot`` and checkout the latest ``noetic-devel`` branch with ``git checkout noetic-devel``. After this, you should have a ``ur5_moveit_tutorials`` package under ``universal_robot`` folder. Finally:
+
+Install any new dependencies that may be missing: ::
+
+    rosdep install -y --from-paths . --ignore-src --rosdistro $ROS_DISTRO
+
+Re-build and re-source the workspace. ::
+
+    cd ~/ws_moveit/
+
+    catkin build
+
+    source devel/setup.bash
+
+In Terminal-1, run ::
+
+    roslaunch ur5_moveit_tutorials ur5_moveit_servo_w_traj_controller.launch 
+
+In Terminal-2, run ::
+
+    rosrun ur5_moveit_tutorials keyboard_teleop.py
+
+See the following video for an example usage:
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 5%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe width="560" height="315" src="https://www.youtube.com/embed/BOcKcjQli3o?si=w0dULrQFJ6G7sIJ9" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
+    </div>
+
+
 
 Integration Testing
 -------------------