46 lines
1.1 KiB
Markdown
46 lines
1.1 KiB
Markdown
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# Unitree Joystick Input Node
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This node will listen to the wireless remote topic and publish a `unitree_go::msg::dds_::WirelessController_` message by using `unitree_sdk2`.
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> Before use this node, please use `ifconfig` command to check the network interface to connect to the robot, then change the parameter in launch file.
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Tested environment:
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* Ubuntu 24.04
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* ROS2 Jazzy
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### Build Command
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to unitree_joystick_input --symlink-install
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```
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### Launch Command
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch unitree_joystick_input joystick.launch.py
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```
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## 1. Use Instructions for Controllers
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### 1.1 Unitree Guide Controller
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* Passive Mode: select
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* Fixed Down: start
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* Fixed Stand: start
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* Free Stand: right + X
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* Trot: right + Y
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* SwingTest: right + B
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* Balance: right + A
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### 1.2 OCS2 Quadruped Controller
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* Passive Mode: select
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* OCS2 Mode: start
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* Stance: start
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* trot: right + X
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* standing trot: right + Y
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* flying_trot: right + B
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### 1.3 RL Quadruped Controller
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* Passive Mode: select
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* Fixed Down: start
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* Fixed Stand: start
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* RL Mode: right + X
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