Open sskorol opened 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.
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.