After creating these files, build a package using catkin_make. If the build is successful, we can load the plugin in RViz itself. Take RViz and load the panel by going to Menu Panel | Add New Panel; we will get a panel like the following:
Figure 8: Loading teleop node from RViz
If we load the Teleop plugin from the list, we will get a panel like the following:
Figure 9: Loading teleop node from RViz
We can put the Teleop Topic name and values inside the Linear Velocity and Angular Velocity and we can echo the Teleop Topic and get the topic values like the following:
Figure 10: Twist commands from RViz teleop plugin