OpenDuck ROS 2 Humble Workspace

This workspace contains a single ROS 2 package (openduck_controller) that runs the OpenDuck policy controller and a WASD keyboard teleop node.

Layout

• src/openduck_controller - policy controller + WASD teleop node
• models/ - place policy files here (default: BEST_WALK_ONNX_2.onnx)

Build

cd /home/david/laiting_ws_openduck/opemduck_ros2_humble_ws
colcon build --packages-select openduck_controller
source install/setup.bash

Run policy controller

ros2 launch openduck_controller openduck_policy.launch.py

The launch file defaults to:

/home/david/laiting_ws_openduck/opemduck_ros2_humble_ws/models/BEST_WALK_ONNX_2.onnx

Override with:

ros2 launch openduck_controller openduck_policy.launch.py policy_path:=/path/to/model.onnx

Run WASD teleop

ros2 run openduck_controller wasd_teleop_node

Controls:

• W/S: forward/back
• Q/E: left/right strafe
• A/D: yaw left/right
• Space: stop

Adjust speeds:

ros2 run openduck_controller wasd_teleop_node --ros-args \
  -p command_topic:=/cmd_vel \
  -p linear_speed:=0.1 \
  -p lateral_speed:=0.05 \
  -p angular_speed:=0.6 \
  -p publish_rate_hz:=50.0

Notes

• The controller node name is openduck_policy_controller.
• The config file is src/openduck_controller/config/controller.yaml.
• If you publish foot contacts, set contact_topic in the config file or pass contact_topic:=/openduck_mini/contacts.