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)