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SoftServeSAG / spot_simulation

This repository contains examples of simulation for Boston Dynamic's robot Spot
BSD 3-Clause "New" or "Revised" License
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"k" key doesn't work while teleoperating Spot #9

Open sskorol opened 2 years ago

sskorol commented 2 years ago

Hi @tarasborov,

I followed the [README]() to launch Gazebo, Spot, inverse, quadruped controller and teleop. On the teleop tab I have the following instructions:

Screenshot from 2021-12-10 11-03-41

When I tried playing with moving around and holo features, I noticed the Spot doesn't react on "k" / "K" keys. No movements at all. The other keys seem to be working as expected.

BTW, I also noticed the "move forward" -> "I" key is more like a tiptoe. Is there any key to walk forward in a normal way? As backward movement seems more natural.

Thanks

tarasborov commented 2 years ago

K is not involved in a movement control. You can play with speed, body height position, etc.

sskorol commented 2 years ago

@tarasborov but it's present in the CLI instruction, isn't it?

Screenshot from 2021-12-10 11-22-45

I also checked https://github.com/SoftServeSAG/teleop_legged_robots/blob/main/src/teleop_legged_robots.py#L56-L73, and there's no "k" key. So probably it'd make sense to remove it from the CLI's help to avoid confusion.

tarasborov commented 2 years ago

You are right. However, on the other hand, we tried to have the same CLI as common teleop has: https://github.com/ros-teleop/teleop_twist_keyboard

sskorol commented 2 years ago

But I don't see "k" bindings in this repo as well: https://github.com/ros-teleop/teleop_twist_keyboard/blob/master/teleop_twist_keyboard.py#L40-L59

tarasborov commented 2 years ago

I agree with you. We will take it into account in the next release.

sskorol commented 2 years ago

I filed the same issue in their repo as well: https://github.com/ros-teleop/teleop_twist_keyboard/issues/28

Thanks

sskorol commented 2 years ago

Feel free to close, when it's released.

sskorol commented 2 years ago

Seems like in the original repo they treat "k" as a "stop" action. However, it seems confusing, as there's a note that all the other keys (that are not listed in instructions) behave as a "stop" operation. So for me, it makes no sense to mention it somewhere. I'd rather assign "move back" action to "k", as it would seem more natural if you got used to classic arrow keys.