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walk's Introduction

walk

Build and Test (humble) Build and Test (iron) Build and Test (rolling)

ROS2 Walking Node to be used across different types of bipeds

This package is not ready for usage

Compiling

In your workspace, run:

git clone [email protected]:ijnek/walk.git src/walk
vcs import src < src/walk/dependencies.repos --recursive
colcon build

Instructions, all in separate terminals

Start simulator:

rcsoccersim3d

Launch NAO in simulator:

ros2 run rcss3d_nao rcss3d_nao

Start inverse kinematics of robot:

ros2 run nao_ik ik_node

Start the phase provider:

ros2 run nao_phase_provider nao_phase_provider --ros-args -r fsr:=/sensors/fsr

Make robot crouch with:

ros2 topic pub --once /motion/sole_poses biped_interfaces/msg/SolePoses "
l_sole:
  position:
    y: 0.05
    z: -0.315
r_sole:
  position:
    y: -0.05
    z: -0.315
"

Start the walk node:

ros2 run walk walk

Start teleop to control the robot:

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=target

Start debugging with rqt using an layout for debugging the walk:

rqt --perspective-file $(ros2 pkg prefix --share walk)/perspective/walk/walk.perspective

Additional Instructions

To abort the walk immediately:

ros2 service call /abort std_srvs/srv/Empty

walk's People

Contributors

ijnek avatar antbono avatar dependabot[bot] avatar

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