control the robot using keyboard #16
Open
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
lnotspotl
reviewed
Sep 10, 2024
| @@ -25,3 +25,6 @@ | |||
| [submodule "dependencies/elevation_mapping_cupy"] | |||
| path = dependencies/elevation_mapping_cupy | |||
| url = [email protected]:lnotspotl/elevation_mapping_cupy.git | |||
| [submodule "dependencies/teleop_twist_keyboard"] | |||
There was a problem hiding this comment.
I don't think we need to add teleop_twist_keyboard as a submodule, do we? At the end of the day, if teleop_twist_keyboard is a dependency of any of the ROS packages, the command
cd .. && rosdep install --from-paths src --ignore-src -r -y && cd src/tbai
from the installation guide should install it automatically.
There was a problem hiding this comment.
I think you are right. But, I got lot of errors and warnings when I executed that command earlier. And I am not sure it is properly setup.
| @@ -38,7 +38,7 @@ anymal_d: | |||
| joints: *jn | |||
|
|
|||
| reference_generator: | |||
| type: "joystick" | |||
| type: "joy" #change it to 'twist' to control with keyboard | |||
There was a problem hiding this comment.
This change will most likely break the reference generator in case one wants to use a joystick.
There was a problem hiding this comment.
Sorry you are right. there is a typo. it supposed to be "joystick". i just added the comment next to it.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Hi @lnotspotl ,
I added the keyboard control using the teleop_twist_keyboard package. Currently, I did the necessary changes to control the robot using keyboard in mpc blind mode. You can have a look at it and let me know your suggestions and comments. If you are happy with my current changes, I will extend it to remaining controllers.
you need to do the following steps
I have already added teleop_twist_package as a dependent to mpc_blind package and also added it as git submodule. I think it should work without any issues. If it not working, you can download the package from here
change type to twist here