EmbodiedAI
/
quadruped_ros2_control
mirror of https://github.com/legubiao/quadruped_ros2_control.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
quadruped_ros2_control/commands/joystick_input
History
Huang Zhenbiao ac6e2278a1 fix joystick direction 2024-09-18 22:19:37 +08:00
..
include/joystick_input add joystick control input 2024-09-13 16:41:58 +08:00
launch add joystick control input 2024-09-13 16:41:58 +08:00
src fix joystick direction 2024-09-18 22:19:37 +08:00
CMakeLists.txt add joystick control input 2024-09-13 16:41:58 +08:00
LICENSE add joystick control input 2024-09-13 16:41:58 +08:00
package.xml add joystick control input 2024-09-13 16:41:58 +08:00
readme.md fix joystick direction 2024-09-18 22:19:37 +08:00

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