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quadruped_ros2_control
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update readme and keyboard node

This commit is contained in:
Zhenbiao Huang 2025-01-14 12:30:04 +08:00
parent 6015ae749c
commit 8e05408d7b
3 changed files with 8 additions and 4 deletions
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4
README.md
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@ -42,8 +42,8 @@ Video for RL Quadruped Controller:
### 1.1 Mujoco Simulator ### 1.1 Mujoco Simulator
Please use **C++ Simulation** in this [Mujoco Simulation](https://github.com/legubiao/unitree_mujoco) for more robot models and contact Please use **C++ Simulation** in this [Mujoco Simulation](https://github.com/legubiao/unitree_mujoco) for more robot models and contact sensor.
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 > **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: > without `sudo`, then you cannot used `unitree_mujoco_hardware`. This conflict could be solved by one of below two methods:

5
commands/keyboard_input/src/KeyboardInput.cpp
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@ -13,7 +13,10 @@ KeyboardInput::KeyboardInput() : Node("keyboard_input_node") {
new_tio_ = old_tio_; new_tio_ = old_tio_;
new_tio_.c_lflag &= (~ICANON & ~ECHO); new_tio_.c_lflag &= (~ICANON & ~ECHO);
tcsetattr(STDIN_FILENO, TCSANOW, &new_tio_); 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() { void KeyboardInput::timer_callback() {

1
libraries/qpoases_colcon/CMakeLists.txt
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@ -55,6 +55,7 @@ ament_export_include_directories(${QPOASES_INCLUDE_DIR})
ament_export_libraries(qpOASES) ament_export_libraries(qpOASES)
install(TARGETS qpOASES install(TARGETS qpOASES
EXPORT export_${PROJECT_NAME}
LIBRARY DESTINATION lib) LIBRARY DESTINATION lib)
ament_package() ament_package()