/Lafayette_OpenDog_gazebo

This repository stores Lafayette_openDog urdf and launch files for Gazebo simulation.

Primary LanguagePython

Lafayette_OpenDog_gazebo

-This repository stores Lafayette_openDog yaml, urdf and launch files for Gazebo simulation.

-Package name is openDog_description

Directory / File / Command Explanation

  1. Config stores controller gains. Adjust those if necessary

  2. 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 or openDog_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 or roslaunch 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.

  3. 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

  4. 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.