control the robot using keyboard #16
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lnotspotl
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Sep 10, 2024
| @@ -25,3 +25,6 @@ | |||
| [submodule "dependencies/elevation_mapping_cupy"] | |||
| path = dependencies/elevation_mapping_cupy | |||
| url = git@github.com:lnotspotl/elevation_mapping_cupy.git | |||
| [submodule "dependencies/teleop_twist_keyboard"] | |||
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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.
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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 | |||
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| reference_generator: | |||
| type: "joystick" | |||
| type: "joy" #change it to 'twist' to control with keyboard | |||
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This change will most likely break the reference generator in case one wants to use a joystick.
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Sorry you are right. there is a typo. it supposed to be "joystick". i just added the comment next to it.
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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