How to switch gait under ros ? (out of terminal command)

qiayuanl / legged_control

Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls

BSD 3-Clause "New" or "Revised" License

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Closed elpimous closed 1 year ago

elpimous commented 1 year ago

Hello all. Cant find a service or topic where i could change gait ?!

qiayuanl commented 1 year ago

Thet terminal commander is using the ROS topic to change the gait, see GaitKeyboardPublisher