2024-09-11 11:32:54 +08:00
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# Keyboard Input
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This node will read the keyboard input 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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* Ubuntu 22.04
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* ROS2 Humble
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2024-09-11 14:01:07 +08:00
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to keyboard_input
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```
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 run keyboard_input keyboard_input
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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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2024-09-11 11:32:54 +08:00
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### 1.1 Control Mode
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* Passive Mode: Keyboard 1
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* Fixed Stand: Keyboard 2
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* Free Stand: Keyboard 3
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* Trot: Keyboard 4
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* SwingTest: Keyboard 9
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* Balance: Keyboard 0
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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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