How to use keyboard instead of joystick to control robot with orocos?

[Dinesh Lama]

I want my robot to be controlled from keyboard keys. although in ros it is possible. how should i do that from orocos program?

And how much responsive is using joystick rather than keyboard? Is it as fast and responsive as using key's? If i use joy package of ros to controll the robot from orocos where ros sends commands to orocos than orocos controlls the robot, will it be efficient i.e real time? since i'm using orocos only for real time purpose to control the motors in low level.