/opendog_ros

Primary LanguageC++

opendog_ros

Opendog_ROS is a quadruped robot which is fully based on ROS 2

The following project intends to integrate ROS2 into the openDog V3 of James Bruton (XRobots https://github.com/XRobots/openDogV3) with another robot project opendog of Nipun Dhananjaya (https://github.com/NDHANA94/opendog_ros2) and provide a simulation environment for testing of new functions.

Contains

This repository contains ros2 packages for quadruped robot opendog_ros. packages are :

  1. opendog_msgs : this package contains the msgs those used by other packages.

    1. JoyCtrlCmds : this contains the control variables of the robot from the gamepad

      • bool[3] states : { start, walk, side_move_mode}
      • uint8 gait_type : to change the gait type
      • geometry_msgs/Pose pose : to control slant(x,y) and roll,pitch,yaw
      • geometry_msgs/Vector3 gait_step : gait_step.x = steplen_x, gait_step.y = steplen_y, gait_step.z = swing_height

    2. Geometry: this contains the parameters for coordinate of each leg and body orientation(roll,pitch,yaw)

      • geometry_msgs/Point32 fr : x,y,z end effector coordinates of FR leg
      • geometry_msgs/Point32 fl : x,y,z end effector coordinates of FL leg
      • geometry_msgs/Point32 br : x,y,z end effector coordinates of BR leg
      • geometry_msgs/Point32 bl : x,y,z end effector coordinates of BL leg
      • geometry_msgs/Quaternion euler_ang : roll, pitch, yaw angles

  2. opendog_teleop : this pkg creates `/opendog_teleop_gamepad_node.

    • Node 1 : /joy_node This node creates commands to robot from Gamepad commands
      • subscriber : /joy_node
      • publisher : /opendog_joy_ctrl_cmd using the interface opendog_msgs/msg/JoyCtrlCmd

  3. opendog_ctrl : This pkg has Body_motion_planner and gait_generater and creates the nodes /command_manager_node and /IK_node

    • Body_motion_planner : plans body motions from control commands receive from /command_manager_node

    • gait_generator : generates gaits acording to the given gait_type command from the Gamepad

    • Node 1 : /command_manager_node

      • subscriber : /opendog_joy_ctrl_cmd via opendog_msgs/msg/JoyCtrlCmds interface
      • publisher : /opendog_geometry via opendog_msgs/msg/Geometry interface

    • Node 2 : /IK_node

      • subscriber : /opendog_geometry via opendog_msgs/msg/Geometry interface
      • publisher : /opendog_jointController/commands

  4. opendog_launch : This contains the launch file for all the above nodes and micro_ros_agent

  5. opendog_gazebo_sim : Gazebo simmulation

  6. opendog_gazebo_joint_cmd : this pkg contains the node /opendog_gazebo_joint_cmd to send joint angles to gazebo

    • Node : /opendog_gazebo_joint_cmd
      • subscriber : /opendog_jointController/commands
      • publisher : '/gazebo_joint_controller/commands`

Launching

source the workspace

source opendog_ws/install/setup.bash

to add workspace source permenently to .bashrc:

  
  # add source 
  echo "source /home/$USER/opendog_ws/install/setup.bash" >> ~/.bachrc

to launch run following

ros2 launch opendog_launch opendog.launch.py

to launch gazebo with opendog

ros2 launch opendog_gazebo_sim opendog_gazebo_sim.launch.py

Gamepad control:
Start:	wake up, sleep
Y,B	gait type (Y (walk), B(trot)) 
Select:	gait Start/Stop

Right joystick: increase movement pace, walking direction
Left joystick:	Pitch (Y axis) and Roll (X axis)
D-pad:		Change height of robot (Y axis)
LT, RT:		Yaw Counter Clock Wise, Yaw Clock Wise

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