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quadruped_ros2_control
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quadruped_ros2_control/commands/keyboard_input/readme.md

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Keyboard Input

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

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