diff --git a/doc/realtime_servo/realtime_servo_tutorial.rst b/doc/realtime_servo/realtime_servo_tutorial.rst
index 43f7c41d5..4ecd89892 100644
--- a/doc/realtime_servo/realtime_servo_tutorial.rst
+++ b/doc/realtime_servo/realtime_servo_tutorial.rst
@@ -114,12 +114,57 @@ An `rqt_graph` of the servo node is shown below (Enlarge by clicking it). Most o
.. image:: servo_rqt_graph.png
:width: 700px
-Configuring Control Devices (Gamepads, Joysticks, etc)
+Configuring Control Devices (Gamepads etc.)
------------------------------------------------------
The ``moveit_servo/config`` folder contains two examples of converting `SpaceNavigator `_ 3D mouse commands to servo commands. ``spacenav_teleop_tools.launch`` loads a config file then publishes commands to the servo node on the ``spacenav/joy topic``. It is easy to create your own config file for a particular joystick or gamepad.
``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
+
+
+
+
+
+Configuring Joystick as a Control Device
+------------------------------------------------------
+As an alternative, you can use a joystick to control the robot. Assuming you have already compiled the workspace and sourced it, simply run. ::
+
+ roslaunch ur5_moveit_tutorials ur5_moveit_servo_w_joy.launch
+
+See the following video for an example usage:
+
+.. raw:: html
+
+