quadruped_ros2_control/commands/keyboard_input/readme.md

Keyboard Input

This node will read the keyboard input and publish a control_input_msgs/Input message.

cd ~/ros2_ws
colcon build --packages-up-to keyboard_input

source ~/ros2_ws/install/setup.bash
ros2 run keyboard_input keyboard_input

1. Running Instructions

1.1 Control Mode

• Passive Mode: Keyboard 1
• Fixed Stand: Keyboard 2
  • Free Stand: Keyboard 3
  • Trot: Keyboard 4
  • SwingTest: Keyboard 9
  • Balance: Keyboard 0

1.2 Control Input

• WASD IJKL: Move robot
• Space: Reset Speed Input