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hdumcke / minipupper_ros2

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Teleop twist keyboard node support #1

Open sskorol opened 2 years ago

sskorol commented 2 years ago

Hi, just received Mini Pupper and was wondering if someone has already made ROS2 integration. Then found this repo. Good job!

I wonder if you have plans to integrate teleop_twist_keyboard node to your code? I don’t have a ps4 controller. But have a small wireless keyboard. When I previously played with teleop node, it required to write a custom driver to translate keys into robot’s offsets. Wondering if you have some API docs for a low-level legs control? Would be greatly appreciated for any references or hints about the best way of how to implement it.

hdumcke commented 2 years ago

I don't have a ROS2 node that generates twist messages but you can use ros2 to send messages to the /joy topic

This project is currently on hold because in its current form it just provides a bridge between a ros2 joystick controller and the code provided by MangDang. There are quite a few issues with this, last but not least that there is no source code for the MangDang gait controller.

Check out my minipupper_kinematics repo. It is still in an early stage but you can make your minipupper walk via the command line and there is a lot of documentation how that code works.

My plan is to build a fairly complete gait controller and then integrate with ROS2. Until then the project is dormant.