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.

1. Locate the GME Browser window.
2. Right-click on the RootFolder > A_Behaviors > 0_Generic_Robot > 0_User_Interface > 1_Keyboard > publish_keystroke Component and select Copy.
3. Inside the HEBI_Daisy_Hexapod Component Assembly canvas, right-click and select 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.

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

Connect ROS Nodes

1. Connect the publish_keystroke model’s keystroke port to the keystroke_to_cmd_vel_legged model’s keystroke port.

2. 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.