2024-09-13 16:41:58 +08:00
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# Joystick Input
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This node will listen to the joystick topic and publish a control_input_msgs/Input message.
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2024-09-20 15:39:50 +08:00
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Tested environment:
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* Ubuntu 24.04
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* ROS2 Jazzy
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* Logitech F310 Gamepad
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2024-09-13 16:41:58 +08:00
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to joystick_input
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```
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```bash
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source ~/ros2_ws/install/setup.bash
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2024-09-18 22:19:37 +08:00
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ros2 launch joystick_input joystick.launch.py
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2024-09-13 16:41:58 +08:00
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```
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2024-09-20 15:39:50 +08:00
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## 1. Use Instructions for Unitree Guide
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2024-09-13 16:41:58 +08:00
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### 1.1 Control Mode
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* Passive Mode: LB + B
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* Fixed Stand: LB + A
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* Free Stand: LB + X
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* Trot: start
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* SwingTest: LT + A
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* Balance: LT + X
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### 1.2 Control Input
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* WASD IJKL: Move robot
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* Space: Reset Speed Input
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