function poses = exampleHelperROS2TurtleBotKeyboardControl(handles)
keyObj = ExampleHelperTurtleBotKeyInput();
velMsg = ros2message(handles.velPub);
reply = 0;
 while reply~='q'
        forwardV = 0;   % Initialize linear and angular velocities
        turnV = 0;        
        reply = getKeystroke(keyObj);
        switch reply
            case 'i'         % i
                forwardV = 0.5;
            case 'k'     % k
                forwardV = -0.5;
            case 'j'     % j
                turnV = 1;
            case 'l'     % l
                turnV = -1;
        end
        velMsg.linear.x = forwardV;
        velMsg.angular.z = turnV;
        send(handles.velPub,velMsg);
        odomMsg = handles.odomSub.LatestMessage;
        handles.poses = [handles.poses;exampleHelperGet2DPose(odomMsg)];     
 end
 poses = handles.poses;
   closeFigure(keyObj);
end