31 lines
640 B
Markdown
31 lines
640 B
Markdown
# 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
|
|
|
|
```bash
|
|
cd ~/ros2_ws
|
|
colcon build --packages-up-to keyboard_input
|
|
```
|
|
|
|
```bash
|
|
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 9
|
|
* Balance: Keyboard 0
|
|
### 1.2 Control Input
|
|
* WASD IJKL: Move robot
|
|
* Space: Reset Speed Input |