From 8e05408d7b55949663dd510ad3787099dc1426c6 Mon Sep 17 00:00:00 2001 From: Zhenbiao Huang Date: Tue, 14 Jan 2025 12:30:04 +0800 Subject: [PATCH] update readme and keyboard node --- README.md | 4 ++-- commands/keyboard_input/src/KeyboardInput.cpp | 5 ++++- libraries/qpoases_colcon/CMakeLists.txt | 3 ++- 3 files changed, 8 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 827b1c7..095ce2f 100644 --- a/README.md +++ b/README.md @@ -42,8 +42,8 @@ Video for RL Quadruped Controller: ### 1.1 Mujoco Simulator -Please use **C++ Simulation** in this [Mujoco Simulation](https://github.com/legubiao/unitree_mujoco) for more robot models and contact -sensor. +Please use **C++ Simulation** in this [Mujoco Simulation](https://github.com/legubiao/unitree_mujoco) for more robot models and contact sensor. +* **Python Simulation** is also supported, but you still need to install [unitree_sdk2](https://github.com/unitreerobotics/unitree_sdk2) > **Warning:** CycloneDDS ROS2 RMW may conflict with unitree_sdk2. If you cannot launch unitree mujoco simulation > without `sudo`, then you cannot used `unitree_mujoco_hardware`. This conflict could be solved by one of below two methods: diff --git a/commands/keyboard_input/src/KeyboardInput.cpp b/commands/keyboard_input/src/KeyboardInput.cpp index 5f51829..5d5eceb 100644 --- a/commands/keyboard_input/src/KeyboardInput.cpp +++ b/commands/keyboard_input/src/KeyboardInput.cpp @@ -13,7 +13,10 @@ KeyboardInput::KeyboardInput() : Node("keyboard_input_node") { new_tio_ = old_tio_; new_tio_.c_lflag &= (~ICANON & ~ECHO); tcsetattr(STDIN_FILENO, TCSANOW, &new_tio_); - RCLCPP_INFO(get_logger(), "Node initialized. Please input keys, press Ctrl+C to quit."); + RCLCPP_INFO(get_logger(), "Keyboard input node started."); + RCLCPP_INFO(get_logger(), "Press 1-0 to switch between different modes"); + RCLCPP_INFO(get_logger(), "Use W/S/A/D and I/K/J/L to move the robot."); + RCLCPP_INFO(get_logger(), "Please input keys, press Ctrl+C to quit."); } void KeyboardInput::timer_callback() { diff --git a/libraries/qpoases_colcon/CMakeLists.txt b/libraries/qpoases_colcon/CMakeLists.txt index f3ce4db..7ddce2b 100644 --- a/libraries/qpoases_colcon/CMakeLists.txt +++ b/libraries/qpoases_colcon/CMakeLists.txt @@ -55,6 +55,7 @@ ament_export_include_directories(${QPOASES_INCLUDE_DIR}) ament_export_libraries(qpOASES) install(TARGETS qpOASES - LIBRARY DESTINATION lib) + EXPORT export_${PROJECT_NAME} + LIBRARY DESTINATION lib) ament_package()