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keyboard_input package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description a1_description aliengo_description b2_description go1_description go2_description cyberdog_description gz_quadruped_hardware hardware_unitree_mujoco controller_common gz_quadruped_playground qpoases_colcon

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI https://github.com/legubiao/quadruped_ros2_control.git
VCS Type git
VCS Version main
Last Updated 2025-03-31
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

  • biao

Authors

No additional authors.
commands/keyboard_input/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

Build Command

cd ~/ros2_ws
colcon build --packages-up-to keyboard_input

Launch Command

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
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
rclcpp
control_input_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged keyboard_input at Robotics Stack Exchange

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