My work is a way to learn ros.
I used urdf files and CAO file from : https://github.com/AIWintermuteAI/Bittle_URDF
Thanks to @AIWintermuteAI for his work !
This is a ROS package that you can use to develop many algoritmh to control Bittle in a Gazebo simulation.
You can found a python file joint_publisher.py
in the src folder.
This program send a position to the simulation for the specified joint. See details in the file.
You can control all the motor of bittle trough the name of these joints listed here :
- left_back_knee_joint
- left_back_shoulder_joint
- left_front_knee_joint
- left_front_shoulder_joint
- right_back_knee_joint
- right_back_shoulder_joint
- right_front_knee_joint
- right_front_shoulder_joint
- joint_state_controller
You need this package :
https://bitbucket.org/theconstructcore/spawn_robot_tools/src/master/
move spawn_robot_tools_pkg
in the src folder of catkin folder.
Then; run
rosdep install spawn_robot_tools_pkg
then move this repository in your catkin_ws/src
folder.
Then : run
rosdep install bittle_ros_gazebo
and use catkin_make in catkin_ws
First source your devel/setup:
source devel/setup.bash
To launch the gazebo simulation you need to run this command in the src/launch
:
roslaunch display.launch
And in antoher tab you can run a python program to control the robot.
Tested on Ubuntu 20.04 with ROS Noetic.