-This repository stores Lafayette_openDog yaml, urdf and launch files for Gazebo simulation.
-Package name is openDog_description
-
Config stores controller gains. Adjust those if necessary
-
Launch stores openDog Gazebo/gait pattern launch files.
-To spawn the openDog in Gazebo world, type in
roslaunch openDog_description opendog_gazebo_control.launch
for 2D model oropenDog_description opendog_gazebo_control_3D.launch
for 3D model-To launch gait patterns, use gazebo_node.launch (2D) or gazebo_node_3D.launch (3D) -The syntax will be
roslaunch openDog_description gazebo_node.launch
orroslaunch openDog_description gazebo_node_3D.launch
-To place foot in the default, steady position, use gazebo_home.launch.
roslaunch openDog_description gazebo_home.launch
-To change the environment, modify opendog.world file.
-Change parameters if necessary.
-
node stores necessary nodes for running the gait pattern. -new_foot_path.py generates perodic foot path wave
-2D_inverse_kinematics.py calculates angle
-gazebo_joint.py sends the angle to the Gazebo
-For 3D gait, 3D tags are added in file names.
-marker.py is for debugging footpath. visualize this in rviz.
rviz
-
urdf stores geometry files of openDog. d -
openDog_full.urdf
is 2D model-
openDog_full_whip.urdf
is 3D model-visualize those by using launch file
urdf_visualize.launch
-change corresponding file name within the launch file.