/opr_ros

Walking pattern generator for humanoid

Primary LanguageCApache License 2.0Apache-2.0

opr_ros

ROS package for CIT Open Platform Robot GankenKun. Tested on ROS Kinetic.

Installation

  1. Install ros
  2. 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
  1. 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
  1. build and source
$ cd ~/catkin_ws
$ catkin build opr_ros
$ catkin source

Usage

  • 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'

Package Description

  • 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