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State Machine Switching Example

Run the State Machine

Section titled “Run the State Machine”
Terminal window
source install/setup.bash
ros2 run dr02_pro state_machine

Keyboard Control Test

Section titled “Keyboard Control Test”

After starting the state machine, use keyboard control via the terminal:

Terminal window
# Start the state machine
ros2 run dr02_pro state_machine


# Press keys in the terminal:
# z - Enter ZeroPos (return to zero position)
# c - Enter RLControl (RL control)
# r - Enter JointDamping (joint damping)
# w/s - Forward/backward (in RLControl state)
# a/d - Left/right
# q/e - Turn left/right

Gamepad Control Test

Section titled “Gamepad Control Test”

Ensure the gamepad is connected and publishing data via the /GAMEPAD_KEY topic:

Terminal window
# Monitor gamepad buttons
ros2 topic echo /GAMEPAD_KEY


# Then press gamepad buttons:
# L1 - Enter ZeroPos
# L2 - Enter RLControl
# R2 - Enter JointDamping

Normal Exit Procedure

Section titled “Normal Exit Procedure”
  1. Exit the SDK program in the terminal
  2. Switch the robot back to Idle state
  3. Exit developer mode via the gamepad