34 lines
627 B
Markdown
34 lines
627 B
Markdown
# Joystick Input
|
|
|
|
This node will listen to the joystick topic and publish a control_input_msgs/Input message.
|
|
|
|
Tested environment:
|
|
* Ubuntu 24.04
|
|
* ROS2 Jazzy
|
|
* Logitech F310 Gamepad
|
|
|
|
```bash
|
|
cd ~/ros2_ws
|
|
colcon build --packages-up-to joystick_input
|
|
```
|
|
|
|
```bash
|
|
source ~/ros2_ws/install/setup.bash
|
|
ros2 launch joystick_input joystick.launch.py
|
|
```
|
|
|
|
## 1. Use Instructions for Unitree Guide
|
|
|
|
### 1.1 Control Mode
|
|
|
|
* Passive Mode: LB + B
|
|
* Fixed Stand: LB + A
|
|
* Free Stand: LB + X
|
|
* Trot: LB + Y
|
|
* SwingTest: LT + B
|
|
* Balance: LT + A
|
|
|
|
### 1.2 Control Input
|
|
|
|
* WASD IJKL: Move robot
|
|
* Space: Reset Speed Input |