control_via_keyboard node doesn't work

[SmnGdn]

Hello,
I don't know if it's only me, but the node control_via_keyboard.cpp doesn't work. The getchar() function always returns -1 and it's impossible to send any input. When checking the error, it says "resource temporarily unavailable". I tried playing around with the settings in the termios structures, but I cannot get any combination working as expected. Did anyone else have this issue and fixed it?

[MAVProxyUser]

I noticed this too... looks like the commit was added in May, I wonder if anyone actually tested it? 05e9152

[MAVProxyUser]

@SimonGodon I have fixed this problem tonight. Detail here:
https://github.com/MAVProxyUser/YushuTechUnitreeGo1/blob/main/README.md#ros1-examples

If you need help, stop by our Slack group: https://join.slack.com/t/robotdogs/shared_invite/zt-1fvixx89u-7T79~VxmDYdFSIoTnSagFQ

This also works with non EDU versions of go1.

[MAVProxyUser]

@SimonGodon here is a video showing that it works after the above patches.
https://twitter.com/d0tslash/status/1610155382772563968

[SmnGdn]

Thank you @MAVProxyUser , that works! The only problem is that it does not publish at a frequent rate but only when a button is pressed. I think the intended behavior was to have it publishing at a constant rate, so that if you stop pushing a key, the robot stops. I've been trying to do that but didn't get it to work yet.

[xyq1223]

Hello,the principle of this is to keep sending commands, you can try again

[53LostNFound]

Thank you, your method helped me solve the current problem. But after modifying the code according to your method, when I run example_walk.cpp, even if I press Enter, the robot does not respond at all. What's going on?