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Package Summary
Released
Documented
Generic keyboard teleop for legged robots.
- Maintainer status: maintained
- Maintainer: SoftServe <robotics AT softserveinc DOT com>
- Author: Taras Borovets
- License: BSD
- Source: git https://github.com/SoftServeSAG/teleop_legged_robots.git (branch: main)
Package Summary
Released
Documented
Generic keyboard teleop for legged robots.
- Maintainer status: maintained
- Maintainer: SoftServe <robotics AT softserveinc DOT com>
- Author: Taras Borovets
- License: BSD
- Source: git https://github.com/SoftServeSAG/teleop_legged_robots.git (branch: main)
Package Summary
Released
Documented
Generic keyboard teleop for legged robots.
- Maintainer status: maintained
- Maintainer: SoftServe <robotics AT softserveinc DOT com>
- Author: Taras Borovets
- License: BSD
- Source: git https://github.com/SoftServeSAG/teleop_legged_robots.git (branch: main)
Install
$ sudo apt-get install ros-$ROS_DISTRO-teleop-legged-robots
Launch
$ roslaunch teleop_legged_robots teleop.launch
Usage
Reading from the keyboard and Publishing to Twist and Pose! --------------------------- Moving around: u i o j k l m , . For Holonomic mode (strafing), hold down the shift key: --------------------------- U I O J K L M < > Body pose: --------------------------- 1/2 : move the body forward/back (+/-x) 3/4 : move the body right/left (+/-y) 5/6 : move the body up/down (+/-z) a/s : body's roll d/f : body's pitch g/h : body's yaw anything else : stop q/z : increase/decrease max speeds by 10% w/x : increase/decrease only linear speed by 10% e/c : increase/decrease only angular speed by 10% r/v : increase/decrease body's pose translation by 10% t/b : increase/decrease body's pose angular speed by 10% CTRL-C to quit
The operation of teleop_legged_robots is represented in video below.
Inspiration
The package was created by the inspiration of teleop_twist_keyboard(https://github.com/ros-teleop/teleop_twist_keyboard/)
