ROS package providing Gazebo simulation of the Darwin OP robot. Also provides a Python interface to the joints and some walk capabilities.
These have been tested in simulation and need some work to be used on the real robot, do not use as-is.
A tutorial describing how to use this package can be found at:
Clone in your catkin workspace and catkin_make it. Make sure you also have the following packages in your workspace
- darwin_description: https://github.com/HumaRobotics/darwin_description
- darwin_control: https://github.com/HumaRobotics/darwin_control
You can launch the simulation with:
roslaunch darwin_gazebo darwin_gazebo.launch
PRESS PLAY IN GAZEBO ONLY WHEN EVERYTHING IS LOADED (wait for controllers)
You can run a walk demo with:
rosrun darwin_gazebo walker_demo.py
All topics are provided in the /darwin namespace.
Sensors:
/darwin/camera/image_raw
/darwin/imu
/darwin/joint_states
Actuators (radians for position control, arbitrary normalized speed for cmd_vel):
/darwin/cmd_vel
/darwin/j_ankle1_l_position_controller/command
/darwin/j_ankle1_r_position_controller/command
/darwin/j_ankle2_l_position_controller/command
/darwin/j_ankle2_r_position_controller/command
/darwin/j_gripper_l_position_controller/command
/darwin/j_gripper_r_position_controller/command
/darwin/j_high_arm_l_position_controller/command
/darwin/j_high_arm_r_position_controller/command
/darwin/j_low_arm_l_position_controller/command
/darwin/j_low_arm_r_position_controller/command
/darwin/j_pan_position_controller/command
/darwin/j_pelvis_l_position_controller/command
/darwin/j_pelvis_r_position_controller/command
/darwin/j_shoulder_l_position_controller/command
/darwin/j_shoulder_r_position_controller/command
/darwin/j_thigh1_l_position_controller/command
/darwin/j_thigh1_r_position_controller/command
/darwin/j_thigh2_l_position_controller/command
/darwin/j_thigh2_r_position_controller/command
/darwin/j_tibia_l_position_controller/command
/darwin/j_tibia_r_position_controller/command
/darwin/j_tilt_position_controller/command
/darwin/j_wrist_l_position_controller/command
/darwin/j_wrist_r_position_controller/command
Basic usage:
import rospy
from darwin_gazebo.darwin import Darwin
rospy.init_node("walker_demo")
darwin=Darwin()
rospy.sleep(1)
darwin.set_walk_velocity(1,0,0) # Set full speed ahead for 5 secs
rospy.sleep(5)
darwin.set_walk_velocity(0,0,0) # StopThe following ROS packages have to be installed:
- gazebo_ros_control
- hector_gazebo
This software is provided by Génération Robots http://www.generationrobots.com and HumaRobotics http://www.humarobotics.com under the Simplified BSD license
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