quadruped_ros2_control/commands/joystick_input/readme.md

Joystick Input

This node will listen to the joystick topic and publish a control_input_msgs/Input message.

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

source ~/ros2_ws/install/setup.bash
ros2 launch joystick_input joystick.launch.py

1. Use Instructions

1.1 Control Mode

• Passive Mode: LB + B
• Fixed Stand: LB + A
  • Free Stand: LB + X
  • Trot: start
  • SwingTest: LT + A
  • Balance: LT + X

1.2 Control Input

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