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.