# champ_teleop

**Repository Path**: qlmp/champ_teleop

## Basic Information

- **Project Name**: champ_teleop
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-01-10
- **Last Updated**: 2026-01-10

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# champ_teleop
Champ Quadruped Robot's teleoperation node. This is a forked version of [teleop_twist_keyboard](https://github.com/ros-teleop/teleop_twist_keyboard/blob/master/teleop_twist_keyboard.py). 

The software has been modified to control the robot's whole-body pose (roll, pitch, yaw).

## How to use

    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.

## Controlling the robot with Joystick

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)