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quadruped_ros2_control
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quadruped_ros2_control/commands/keyboard_input
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Zhenbiao Huang b76e70427a modified LICENSE and reference 2024-10-03 19:26:54 +08:00
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include/keyboard_input better fsm switch logic for unitree controller 2024-09-29 20:27:02 +08:00
src achieved basic control on go2 and aliengo 2024-09-30 15:10:08 +08:00
CMakeLists.txt go1 description and keyboard input 2024-09-11 11:32:54 +08:00
README.md achieved basic control on go2 and aliengo 2024-09-30 15:10:08 +08:00
package.xml go1 description and keyboard input 2024-09-11 11:32:54 +08:00

README.md

Keyboard Input

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

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy
  • Ubuntu 22.04
    • ROS2 Humble
cd ~/ros2_ws
colcon build --packages-up-to keyboard_input

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

1. Use Instructions for Unitree Guide

1.1 Control Mode

  • Passive Mode: Keyboard 1
  • Fixed Stand: Keyboard 2
    • Free Stand: Keyboard 3
    • Trot: Keyboard 4
    • SwingTest: Keyboard 5
    • Balance: Keyboard 6

1.2 Control Input

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