Champ Quadruped Robot's teleoperation node. This is a forked version of teleop_twist_keyboard.
The software has been modified to control the robot's whole-body pose (roll, pitch, yaw).
roslaunch champ_teleop teleop.launch
optional paramters for Logitech f710:
roslaunch champ_teleop teleop.launch joy:=true
- Make sure the joystick's switch on top is in 'x' mode.
Left Joystick:
- Up/Down - Linear Velocity X
- Left/Right - Angular Velocity Z
- L1 + Left/Right - Linear Velocity Y
Right Joystick:
- Up/Down - Body's Pitch
- Left/Right - Body's Roll
- R1 + Left/Right - Body's Yaw
- R2 + Up/Down - Body's Z (Height)