This repository contains the configuration, model and launch files specific to the Bullet robot.
This is an operation setup readme for the Bullet Syropod platform - please do not modify. These instructions are top-level, please consult readme of each individual package for further help.
If you haven't looked at the tutorials for using Syropod Highlevel Controller, see SHC Tutorials.
- Ubuntu 18.04 LTS and ROS Melodic; or
- Ubuntu 20.04 LTS and ROS Noetic
- Syropod High-level Controller:
git clone https://github.com/csiro-robotics/syropod_highlevel_controller.git
- Syropod Remote:
git clone https://github.com/csiro-robotics/syropod_remote.git
- ROS Joystick
sudo apt-get install ros-$ROS_DISTRO-joy
- RQT Reconfigure Control (Optional):
git clone https://github.com/csiro-robotics/syropod_rqt_reconfigure_control.git
Instructions on the use of differing control inputs can be found at the individual repo links above.
mkdir -p openshc_ws/src
cd openshc_ws/src
git clone https://github.com/csiro-robotics/bullet_syropod.git
cd ..
catkin build
To run the Bullet high-level control run the following launch file with optional arguments
roslaunch bullet_syropod bullet_highlevel.launch
Below are the default values for optional high-level arguments
- Bullet Configuration:
config:=bullet_insectoid
(loads bullet_insectoid.yaml for SHC) - Gait Parameters:
gait:=gait
(loads gait.yaml for SHC) - Auto-Pose Parameters:
auto_pose:=auto_pose
(loads auto_pose.yaml for SHC) - Control input method:
control:=joy
('rqt' to use rqt_reconfigure_control) - RVIZ Visualisation:
rviz:=true
- Gazebo Simulation:
gazebo:=false
- RQT Plot:
plot:=false
- RQT Reconfigure:
reconfigure:=false
- Auto-Logging:
logging:=false
Example: To run Bullet Insectoid configuration in Gazebo but without rviz visualisation with parameter reconfiguration panel and rqt_plot run the following:
roslaunch bullet_syropod bullet_highlevel.launch config:=bullet_insectoid rviz:=false gazebo:=true reconfigure:=true plot:=true
Tuning of configuration parameters is done using the corresponding config yaml files.
Consult syropod_highlevel_controller/config/readme.md
for details.
RVIZ Visualisation of Mammalian Config:
roslaunch bullet_syropod bullet_highlevel.launch config:=bullet_mammalian rviz:=true
Gazebo Simulation of Insectoid Config:
roslaunch bullet_syropod bullet_highlevel.launch config:=bullet_insectoid gazebo:=true
Before tuning please make a copy of the desired parameter file (eg: bullet_insectoid) and make changes there.
In order to use the new parameter file launch 'bullet_highlevel' with the specific argument set to the new parameter file.
eg: roslaunch bullet_syropod bullet_highlevel config:=bullet_insectoid
Tuning of high-level parameters is done using the following parameter files.
- Syropod Parameters - arg=config:
/config/bullet_*.yaml
- Gait Cycle Parameters - arg=gait:
/config/gait.yaml
- Auto Posing Cycle Parameters - arg=auto_pose:
/config/auto_pose.yaml
Consult syropod_highlevel_controller/config/readme.md
for details.
- Samith Ashan
- Benjamin Tam
This project is licensed under the CSIRO Open Source Software Licence Agreement (variation of the BSD / MIT License) - see the LICENSE file for details.
Please report bugs using Issue Tracker or contact us via email shc-support@csiro.au.