Spyndra-ROS-Simulator

This project provides a simulation environment in ROS to mimic the open-source robotic platform Spyndra.

Installation

This project assumes using ROS Indigo and Ubuntu 14.04 LTS.

Suppose you have not create your ROS workspace. You can create one by the command.
```
$ mkdir -p ~/catkin_ws/src
```

Go to the workspace and download the repository.

$ cd ~/catkin_ws/src
$ git clone https://github.com/roboticistYan/Spyndra-ROS-Simulation

Make sure you have ros_control packages

$ sudo apt-get install ros-indigo-ros-control ros-indigo-ros-controllers
$ sudo apt-get install ros-indigo-gazebo-ros-control ros-indigo-effort-controllers ros-indigo-joint-state-controller ros-indigo-joint-trajectory-controller

Check ROS dependencies

$ rosdep update
$ rosdep check --from-paths src --ignore-src --rosdistro indigo

If any dependency is missing, you can auto-install them by the command

$ cd ~/catkin_ws
$ rosdep install --from-paths src --ignore-src --rosdistro indigo -y

Build the source code.
```
$ cd ~/catkin_ws
$ catkin_make
```
To verify installation, launch the following command.
```
$ source ~/catkin_ws/devel/setup.bash
$ roslaunch spyndra_ros_simulator 01-basicmove.launch
```
If you see things similar to the screenshot below, you are all set for this project.

Running Simulation

First, invode the Spyndra model in gazebo
```
$ roslaunch spyndra_gazebo spyndra.launch
```
This command should bring up gazebo interface like this:

Now we need to invoke the controller

$ roslanch spyndra_control spyndra_control.launch

In order to check if the controller is successfully launched, issue the command

$ rostopic list

If you see the output below, you are ready to generate angle commands.

/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/imu
/rosout
/rosout_agg
/spyndra/joint1_position_controller/command
/spyndra/joint1_position_controller/pid/parameter_descriptions
/spyndra/joint1_position_controller/pid/parameter_updates
/spyndra/joint1_position_controller/state
/spyndra/joint2_position_controller/command
/spyndra/joint2_position_controller/pid/parameter_descriptions
/spyndra/joint2_position_controller/pid/parameter_updates
/spyndra/joint2_position_controller/state
/spyndra/joint3_position_controller/command
/spyndra/joint3_position_controller/pid/parameter_descriptions
/spyndra/joint3_position_controller/pid/parameter_updates
/spyndra/joint3_position_controller/state
/spyndra/joint4_position_controller/command
/spyndra/joint4_position_controller/pid/parameter_descriptions
/spyndra/joint4_position_controller/pid/parameter_updates
/spyndra/joint4_position_controller/state
/spyndra/joint5_position_controller/command
/spyndra/joint5_position_controller/pid/parameter_descriptions
/spyndra/joint5_position_controller/pid/parameter_updates
/spyndra/joint5_position_controller/state
/spyndra/joint6_position_controller/command
/spyndra/joint6_position_controller/pid/parameter_descriptions
/spyndra/joint6_position_controller/pid/parameter_updates
/spyndra/joint6_position_controller/state
/spyndra/joint7_position_controller/command
/spyndra/joint7_position_controller/pid/parameter_descriptions
/spyndra/joint7_position_controller/pid/parameter_updates
/spyndra/joint7_position_controller/state
/spyndra/joint8_position_controller/command
/spyndra/joint8_position_controller/pid/parameter_descriptions
/spyndra/joint8_position_controller/pid/parameter_updates
/spyndra/joint8_position_controller/state
/spyndra/joint_states
/tf
/tf_static

After confirming the rostopic, you can test the simple harmonic walk (sine wave with phase lag)
```
$ rosrun spyndra_ros_simulation sine_walk
```

License

This work is licensed under MIT License.

sychaichangkun/Spyndra-ROS-Simulation

Spyndra-ROS-Simulator

Installation

Running Simulation

License