"k" key doesn't work while teleoperating Spot

[sskorol]

Hi @tarasborov,

I followed the README to launch Gazebo, Spot, inverse, quadruped controller and teleop.
On the teleop tab I have the following instructions:

When I tried playing with moving around and holo features, I noticed the Spot doesn't react on "k" / "K" keys. No movements at all. The other keys seem to be working as expected.

BTW, I also noticed the "move forward" -> "I" key is more like a tiptoe. Is there any key to walk forward in a normal way? As backward movement seems more natural.

Thanks

[tarasborov]

K is not involved in a movement control. You can play with speed, body height position, etc.

[sskorol]

@tarasborov but it's present in the CLI instruction, isn't it?

I also checked https://github.com/SoftServeSAG/teleop_legged_robots/blob/main/src/teleop_legged_robots.py#L56-L73, and there's no "k" key. So probably it'd make sense to remove it from the CLI's help to avoid confusion.

[tarasborov]

You are right. However, on the other hand, we tried to have the same CLI as common teleop has: https://github.com/ros-teleop/teleop_twist_keyboard

[sskorol]

But I don't see "k" bindings in this repo as well: https://github.com/ros-teleop/teleop_twist_keyboard/blob/master/teleop_twist_keyboard.py#L40-L59

[tarasborov]

I agree with you. We will take it into account in the next release.

[sskorol]

I filed the same issue in their repo as well: ros-teleop/teleop_twist_keyboard#28

Thanks

[sskorol]

Feel free to close, when it's released.

[sskorol]

Seems like in the original repo they treat "k" as a "stop" action. However, it seems confusing, as there's a note that all the other keys (that are not listed in instructions) behave as a "stop" operation. So for me, it makes no sense to mention it somewhere. I'd rather assign "move back" action to "k", as it would seem more natural if you got used to classic arrow keys.