ROS package for CIT Open Platform Robot GankenKun. Tested on ROS Kinetic.
- Install ros
- create ROS workspace
$ sudo apt install python-catkin-tools
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws
$ catkin init
$ echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc
$ echo 'source `catkin locate --shell-verbs`' >> ~/.bashrc
- clone repository
$ cd ~/catkin_ws/src
$ git clone https://github.com/citbrains/opr_ros.git
$ wstool init .
$ wstool merge opr_ros/opr_ros.rosinstall
$ wstool update
$ rosdep install --from-paths opr_ros --ignore-src --rosdistro kinetic
- build and source
$ cd ~/catkin_ws
$ catkin build opr_ros
$ catkin source
- View URDF model on RViz
$ roslaunch opr_bringup display_xacro.launch model:='$(find opr_description)/robots/gankenkun_v3.xacro' gui:=true
- Gazebo Simulation
$ roslaunch opr_bringup simulation.launch
- Real Robot
$ roslaunch opr_bringup gankenkun_v3.launch
- Hajime Walk Control
First launch either the Gazebo Simulation or Real Robot then launch the following:
$ roslaunch hajime_walk_ros hajime_walk.launch
Example: stepping on the spot
$ rostopic pub /hajime_walk/walk opr_msgs/HajimeWalk -- '0' '0' '0' '0' '0'
- hajime_walk_ros
- collection of files related hajime walk/motion control
- opr_bringup
- collection of launch files to bring up actual robot and robot simulation
- opr_description
- collection of robot model's urdf, CAD data (stl), collada data (dae)
- opr_gazebo
- collection of gazebo related files
- opr_kondo_driver
- collection of B3M servo motor related files
- opr_msgs
- collection of custom ROS messages
- opr_ros
- package to build other package
- opr_ros_control
- collection of ros controllers
- opr_user_interface
- collection of user interface files