Keyboard Input

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

biao

Authors

No additional authors.

Keyboard Input

This node will read the keyboard input and publish a control_input_msgs/Input message.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

Build Command

cd ~/ros2_ws
colcon build --packages-up-to keyboard_input

Launch Command

source ~/ros2_ws/install/setup.bash
ros2 run keyboard_input keyboard_input

1. Use Instructions for Unitree Guide

1.1 Control Mode

Passive Mode: Keyboard 1
Fixed Stand: Keyboard 2
- Free Stand: Keyboard 3
- Trot: Keyboard 4
- SwingTest: Keyboard 5
- Balance: Keyboard 6
  1.2 Control Input
WASD IJKL: Move robot
Space: Reset Speed Input

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	control_input_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `keyboard_input` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

keyboard_input package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

biao

Authors

No additional authors.

Keyboard Input

This node will read the keyboard input and publish a control_input_msgs/Input message.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

Build Command

cd ~/ros2_ws
colcon build --packages-up-to keyboard_input

Launch Command

source ~/ros2_ws/install/setup.bash
ros2 run keyboard_input keyboard_input

1. Use Instructions for Unitree Guide

1.1 Control Mode

Passive Mode: Keyboard 1
Fixed Stand: Keyboard 2
- Free Stand: Keyboard 3
- Trot: Keyboard 4
- SwingTest: Keyboard 5
- Balance: Keyboard 6
  1.2 Control Input
WASD IJKL: Move robot
Space: Reset Speed Input

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	control_input_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `keyboard_input` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

keyboard_input package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

biao

Authors

No additional authors.

Keyboard Input

This node will read the keyboard input and publish a control_input_msgs/Input message.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

Build Command

cd ~/ros2_ws
colcon build --packages-up-to keyboard_input

Launch Command

source ~/ros2_ws/install/setup.bash
ros2 run keyboard_input keyboard_input

1. Use Instructions for Unitree Guide

1.1 Control Mode

Passive Mode: Keyboard 1
Fixed Stand: Keyboard 2
- Free Stand: Keyboard 3
- Trot: Keyboard 4
- SwingTest: Keyboard 5
- Balance: Keyboard 6
  1.2 Control Input
WASD IJKL: Move robot
Space: Reset Speed Input

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	control_input_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `keyboard_input` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

keyboard_input package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

biao

Authors

No additional authors.

Keyboard Input

This node will read the keyboard input and publish a control_input_msgs/Input message.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

Build Command

cd ~/ros2_ws
colcon build --packages-up-to keyboard_input

Launch Command

source ~/ros2_ws/install/setup.bash
ros2 run keyboard_input keyboard_input

1. Use Instructions for Unitree Guide

1.1 Control Mode

Passive Mode: Keyboard 1
Fixed Stand: Keyboard 2
- Free Stand: Keyboard 3
- Trot: Keyboard 4
- SwingTest: Keyboard 5
- Balance: Keyboard 6
  1.2 Control Input
WASD IJKL: Move robot
Space: Reset Speed Input

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	control_input_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `keyboard_input` at Robotics Stack Exchange

keyboard_input package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

biao

Authors

No additional authors.

Keyboard Input

This node will read the keyboard input and publish a control_input_msgs/Input message.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

Build Command

cd ~/ros2_ws
colcon build --packages-up-to keyboard_input

Launch Command

source ~/ros2_ws/install/setup.bash
ros2 run keyboard_input keyboard_input

1. Use Instructions for Unitree Guide

1.1 Control Mode

Passive Mode: Keyboard 1
Fixed Stand: Keyboard 2
- Free Stand: Keyboard 3
- Trot: Keyboard 4
- SwingTest: Keyboard 5
- Balance: Keyboard 6
  1.2 Control Input
WASD IJKL: Move robot
Space: Reset Speed Input

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	control_input_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `keyboard_input` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

keyboard_input package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

biao

Authors

No additional authors.

Keyboard Input

This node will read the keyboard input and publish a control_input_msgs/Input message.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

Build Command

cd ~/ros2_ws
colcon build --packages-up-to keyboard_input

Launch Command

source ~/ros2_ws/install/setup.bash
ros2 run keyboard_input keyboard_input

1. Use Instructions for Unitree Guide

1.1 Control Mode

Passive Mode: Keyboard 1
Fixed Stand: Keyboard 2
- Free Stand: Keyboard 3
- Trot: Keyboard 4
- SwingTest: Keyboard 5
- Balance: Keyboard 6
  1.2 Control Input
WASD IJKL: Move robot
Space: Reset Speed Input

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	control_input_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `keyboard_input` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

keyboard_input package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

biao

Authors

No additional authors.

Keyboard Input

This node will read the keyboard input and publish a control_input_msgs/Input message.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

Build Command

cd ~/ros2_ws
colcon build --packages-up-to keyboard_input

Launch Command

source ~/ros2_ws/install/setup.bash
ros2 run keyboard_input keyboard_input

1. Use Instructions for Unitree Guide

1.1 Control Mode

Passive Mode: Keyboard 1
Fixed Stand: Keyboard 2
- Free Stand: Keyboard 3
- Trot: Keyboard 4
- SwingTest: Keyboard 5
- Balance: Keyboard 6
  1.2 Control Input
WASD IJKL: Move robot
Space: Reset Speed Input

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	control_input_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `keyboard_input` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

keyboard_input package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

biao

Authors

No additional authors.

Keyboard Input

This node will read the keyboard input and publish a control_input_msgs/Input message.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

Build Command

cd ~/ros2_ws
colcon build --packages-up-to keyboard_input

Launch Command

source ~/ros2_ws/install/setup.bash
ros2 run keyboard_input keyboard_input

1. Use Instructions for Unitree Guide

1.1 Control Mode

Passive Mode: Keyboard 1
Fixed Stand: Keyboard 2
- Free Stand: Keyboard 3
- Trot: Keyboard 4
- SwingTest: Keyboard 5
- Balance: Keyboard 6
  1.2 Control Input
WASD IJKL: Move robot
Space: Reset Speed Input

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	control_input_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `keyboard_input` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

keyboard_input package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

biao

Authors

No additional authors.