Add teleop instructions to README

README.md

@@ -187,5 +187,15 @@ rosrun spot_ros_interface  spot_ros_interface.py --username USERNAME --password
 
 *Note:* You must be able to ping Spot's IP addess in order to communicate. The easiest way to do so is to connect to Spot's Wi-Fi hotspot directly. For more information, reference Spot's instruction manuals on ways to communicate.
 
+### Controlling Spot from your keyboard
+
+With the ROS wrapper running, open a new terminal and run keyboard_teleop.py in the spot_ros_interface ROS package:
+```
+rosrun spot_ros_interface keyboard_teleop.py
+```
+and follow the instructions on screen.
+
+*Note:* If Spot is in a faulty state and/or upside down, make sure to call the self-right command first (from the keyboard_teleop application, press "r").
+
 # Contribute
 [ROS package guidelines](https://github.com/ethz-asl/mav_tools_public/wiki/How-to-Write-a-ROS-Package)

spot_ros_interface/scripts/keyboard_teleop.py

@@ -20,8 +20,8 @@ instructions="\n\
 \u2502     wasd - Move            \u2502\n\
 \u2502     qe - Turn              \u2502\n\
 \u2502     r - Self-right         \u2502\n\
-\u2502     j - height down        \u2502\n\
-\u2502     k - height up          \u2502\n\
+\u2502     j - Height down        \u2502\n\
+\u2502     k - Height up          \u2502\n\
 \u2502                            \u2502\n\
 \u2502     SPACE - E-Stop (TODO)  \u2502\n\
 \u2502     Q - Quit               \u2502\n\
@@ -40,7 +40,7 @@ height_down = -1.0
 
 def self_right_service(key):
     tf = geometry_msgs.msg.Transform()
-    
+
     self_right_srv_req.body_pose.translation = tf.translation
     self_right_srv_req.body_pose.rotation = tf.rotation