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How to control the robot with your keyboard

asig_go2_robot_side Put this folder on your robot. Ssh into the robot and run subscribe_sport_state_control.py to start receiving commands.

asig_go2_pc_side Put this folder on your pc. Run sport_state_control.py to start control.

  • arrow keys for movement
  • a and d for rotation
  • z for sit down and x for stand up

Note that the robot and your pc should both connect to the same wifi and the ip addresses should be in the same subset (e.g., 192.168.100.xxx). If the network is estabilished successfully, you should be able to see /livox/lidar and /livox/imu topics on your pc. When you failed to see them, ssh into the robot, and run systemctl --user restart livoxdriver. You can also run systemctl --user status livoxdriver to check the status of the livox driver. The last two lines of the output should mention publishing the imu topic and the lidar topic in some format. If this is not the case, you should restart the service.