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phantomx_gazebo package from phantomx_gazebo repophantomx_gazebo |
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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/HumaRobotics/phantomx_gazebo.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2015-07-30 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Provides Gazebo plugins to expose phantomx model to ROS
Additional Links
Maintainers
- Philippe Capdepuy
Authors
- Philippe Capdepuy
phantomx_gazebo
ROS package providing Gazebo simulation of the Phantom X Hexapod 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.
Install
Clone in your catkin workspace and catkin_make it. Make sure you also have the following packages in your workspace
- phantomx_description: https://github.com/HumaRobotics/phantomx_description
- phantomx_control: https://github.com/HumaRobotics/phantomx_control
Usage
You can launch the simulation with:
roslaunch phantomx_gazebo phantomx_gazebo.launch
PRESS PLAY IN GAZEBO ONLY WHEN EVERYTHING IS LOADED (wait for controllers)
You can run a walk demo with:
rosrun phantomx_gazebo walker_demo.py
ROS API
All topics are provided in the /phantomx namespace.
Sensors:
/phantomx/joint_states
Actuators (radians for position control, arbitrary normalized speed for cmd_vel):
/phantomx/cmd_vel
/phantomx/j_c1_lf_position_controller/command
/phantomx/j_c1_lm_position_controller/command
/phantomx/j_c1_lr_position_controller/command
/phantomx/j_c1_rf_position_controller/command
/phantomx/j_c1_rm_position_controller/command
/phantomx/j_c1_rr_position_controller/command
/phantomx/j_thigh_lf_position_controller/command
/phantomx/j_thigh_lm_position_controller/command
/phantomx/j_thigh_lr_position_controller/command
/phantomx/j_thigh_rf_position_controller/command
/phantomx/j_thigh_rm_position_controller/command
/phantomx/j_thigh_rr_position_controller/command
/phantomx/j_tibia_lf_position_controller/command
/phantomx/j_tibia_lm_position_controller/command
/phantomx/j_tibia_lr_position_controller/command
/phantomx/j_tibia_rf_position_controller/command
/phantomx/j_tibia_rm_position_controller/command
/phantomx/j_tibia_rr_position_controller/command
Python API
Basic usage:
import rospy
from phantomx_gazebo.phantomx import PhantomX
rospy.init_node("walker_demo")
phantomx=PhantomX()
rospy.sleep(1)
phantomx.set_walk_velocity(1,0,0) # Set full speed ahead for 5 secs
rospy.sleep(5)
phantomx.set_walk_velocity(0,0,0) # Stop
Dependencies
The following ROS packages have to be installed:
- gazebo_ros_control
License
This software is provided by Génération Robots http://www.generationrobots.com and HumaRobotics http://www.humarobotics.com under the Simplified BSD license
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| gazebo_ros | |
| rospy | |
| gazebo_ros_control | |
| sensor_msgs | |
| catkin | |
| phantomx_description | |
| hector_gazebo_plugins |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged phantomx_gazebo at Robotics Stack Exchange
|
|
phantomx_gazebo package from phantomx_gazebo repophantomx_gazebo |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/HumaRobotics/phantomx_gazebo.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2015-07-30 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Provides Gazebo plugins to expose phantomx model to ROS
Additional Links
Maintainers
- Philippe Capdepuy
Authors
- Philippe Capdepuy
phantomx_gazebo
ROS package providing Gazebo simulation of the Phantom X Hexapod 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.
Install
Clone in your catkin workspace and catkin_make it. Make sure you also have the following packages in your workspace
- phantomx_description: https://github.com/HumaRobotics/phantomx_description
- phantomx_control: https://github.com/HumaRobotics/phantomx_control
Usage
You can launch the simulation with:
roslaunch phantomx_gazebo phantomx_gazebo.launch
PRESS PLAY IN GAZEBO ONLY WHEN EVERYTHING IS LOADED (wait for controllers)
You can run a walk demo with:
rosrun phantomx_gazebo walker_demo.py
ROS API
All topics are provided in the /phantomx namespace.
Sensors:
/phantomx/joint_states
Actuators (radians for position control, arbitrary normalized speed for cmd_vel):
/phantomx/cmd_vel
/phantomx/j_c1_lf_position_controller/command
/phantomx/j_c1_lm_position_controller/command
/phantomx/j_c1_lr_position_controller/command
/phantomx/j_c1_rf_position_controller/command
/phantomx/j_c1_rm_position_controller/command
/phantomx/j_c1_rr_position_controller/command
/phantomx/j_thigh_lf_position_controller/command
/phantomx/j_thigh_lm_position_controller/command
/phantomx/j_thigh_lr_position_controller/command
/phantomx/j_thigh_rf_position_controller/command
/phantomx/j_thigh_rm_position_controller/command
/phantomx/j_thigh_rr_position_controller/command
/phantomx/j_tibia_lf_position_controller/command
/phantomx/j_tibia_lm_position_controller/command
/phantomx/j_tibia_lr_position_controller/command
/phantomx/j_tibia_rf_position_controller/command
/phantomx/j_tibia_rm_position_controller/command
/phantomx/j_tibia_rr_position_controller/command
Python API
Basic usage:
import rospy
from phantomx_gazebo.phantomx import PhantomX
rospy.init_node("walker_demo")
phantomx=PhantomX()
rospy.sleep(1)
phantomx.set_walk_velocity(1,0,0) # Set full speed ahead for 5 secs
rospy.sleep(5)
phantomx.set_walk_velocity(0,0,0) # Stop
Dependencies
The following ROS packages have to be installed:
- gazebo_ros_control
License
This software is provided by Génération Robots http://www.generationrobots.com and HumaRobotics http://www.humarobotics.com under the Simplified BSD license
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| gazebo_ros | |
| rospy | |
| gazebo_ros_control | |
| sensor_msgs | |
| catkin | |
| phantomx_description | |
| hector_gazebo_plugins |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged phantomx_gazebo at Robotics Stack Exchange
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.