ROS2 Walking Node to be used across different types of bipeds
In your workspace, run:
git clone git@github.com:ijnek/walk.git src/walk
vcs import src < src/walk/dependencies.repos --recursive
colcon build
Start simulator:
rcsoccersim3d
Launch NAO in simulator:
ros2 run rcss3d_nao rcss3d_nao
Start inverse kinematics of robot:
ros2 run nao_ik ik_node
Start the phase provider:
ros2 run nao_phase_provider nao_phase_provider --ros-args -r fsr:=/sensors/fsr
Make robot crouch with:
ros2 topic pub --once /motion/sole_poses biped_interfaces/msg/SolePoses "
l_sole:
position:
y: 0.05
z: -0.315
r_sole:
position:
y: -0.05
z: -0.315
"
Start the walk node:
ros2 run walk walk
Start teleop to control the robot:
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=target
Start debugging with rqt using an layout for debugging the walk:
rqt --perspective-file $(ros2 pkg prefix --share walk)/perspective/walk/walk.perspective
To abort the walk immediately:
ros2 service call /abort std_srvs/srv/Empty