.. _add_user_input:

Add User Input
==============

We need to add a couple ROS Nodes to allow an end-user to control the Daisy Hexapod robot.

Add publish_keystroke ROS Node
------------------------------

We need to add a ROS Node to capture user keystrokes and publish them on a ROS Topic.

#. Locate the **GME Browser window**.
#. Right-click on the **RootFolder** > **A_Behaviors** > **0_Generic_Robot** > **0_User_Interface**
   > **1_Keyboard** > **publish_keystroke** Component
   and select :menuselection:`Copy`.
#. Inside the **HEBI_Daisy_Hexapod** Component Assembly canvas, right-click
   and select :menuselection:`Paste Special --> As Reference`.

Add keystroke_to_cmd_vel_legged ROS Node
----------------------------------------

We need to add a ROS Node to listens to the keystroke ROS Topic and publishes to the cmd_vel ROS Topic.

#. Locate the **GME Browser window**.
#. Right-click on the **RootFolder** > **A_Behaviors** > **0_Generic_Robot** > **0_User_Interface**
   > **1_Keyboard** > **keystroke_to_cmd_vel_legged** Component
   and select :menuselection:`Copy`.
#. Inside the **HEBI_Daisy_Hexapod** Component Assembly canvas, right-click
   and select :menuselection:`Paste Special --> As Reference`.

Connect ROS Nodes
-----------------

#. Connect the **publish_keystroke** model's **keystroke** port
   to the **keystroke_to_cmd_vel_legged** model's **keystroke** port.
#. Connect the **keystroke_to_cmd_vel_legged** model's **cmd_vel** port
   to the **HEBI_Hexapod_Chassis** model's **from_cmd_vel_twist_topic** port.

   .. image:: images/hebi_daisy_hexapod_canvas_ros_nodes.png