Instructions: Laikago working with ROS.

Basic function: laikago_msgs, laikago_description

Simulation related: laikago_controller, laikago_gazebo

If you want to simulate with Gazebo, we recommend x86 platform. ARM platform is not suggested for simulation. So, if you run this code on ARM platform, please remove Simulation related folder first.

The test environment is:

Ubuntu 16.04 + ROS Kinetic.

Ubuntu 18.04 + ROS Melodic.

Dependencies:

Gazebo8

Configuration:

Make sure the following exist in your ~/.bashrc file or export them in terminal. kinetic, gazebo-8 and ~/catkin_ws should be replaced in your own case.

source /opt/ros/kinetic/setup.bash
source /usr/share/gazebo-8/setup.sh
source ~/catkin_ws/devel/setup.bash
export ROS_PACKAGE_PATH=~/catkin_ws:${ROS_PACKAGE_PATH}
export GAZEBO_PLUGIN_PATH=~/catkin_ws/devel/lib:${GAZEBO_PLUGIN_PATH}
export LD_LIBRARY_PATH=~/catkin_ws/devel/lib:${LD_LIBRARY_PATH}

Build:

cd ~/catkin_ws
catkin_make

laikago_controller:

This ros-type controller allow user control joints with position, velocity and torque.

laikago_msgs:

ros-type message, including command and state of high-level and low-level control. It would be better if it be compiled firstly, otherwise you may have dependency problems (such as that you can't find the header file).

laikago_description:

including mesh, urdf and xacro files of laikago.

roslaunch laikago_description laikago_rviz.launch

The robot should be spawned in Rviz.

laikago_gazebo:

Gazebo8 is recommended. Notice that it is not compatible with other versions like Gazebo7. Make sure unders have been installed:

sudo apt-get install ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-joint-state-controller ros-kinetic-effort-controllers ros-kinetic-velocity-controllers ros-kinetic-position-controllers ros-kinetic-robot-controllers ros-kinetic-robot-state-publisher ros-kinetic-gazebo8-ros ros-kinetic-gazebo8-ros-control ros-kinetic-gazebo8-ros-pkgs ros-kinetic-gazebo8-ros-dev

roslaunch laikago_gazebo normal.launch

The robot should be lying on the ground with joints not activated.

rosrun laikago_gazebo laikago_servo

The robot will stand up slowly.

rosrun laikago_gazebo laikago_external_force

You can add external disturbances with this node, like a push or a kick.

draman07/laikago_ros