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Repository Summary

Checkout URI	https://github.com/HumaRobotics/darwin_gazebo.git
VCS Type	git
VCS Version	master
Last Updated	2015-02-25
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)

Packages

Name	Version
darwin_gazebo	0.1.0

README

darwin_gazebo

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.

Darwin model in Gazebo

Tutorial

A tutorial describing how to use this package can be found at:

http://www.generationrobots.com/en/content/83-carry-out-simulations-and-make-your-darwin-op-walk-with-gazebo-and-ros

Install

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

Usage

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

ROS API

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

Python API

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) # Stop

Dependencies

The following ROS packages have to be installed:

gazebo_ros_control
hector_gazebo

License

This software is provided by Génération Robots http://www.generationrobots.com and HumaRobotics http://www.humarobotics.com under the Simplified BSD license

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI	https://github.com/HumaRobotics/darwin_gazebo.git
VCS Type	git
VCS Version	master
Last Updated	2015-02-25
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)

Packages

Name	Version
darwin_gazebo	0.1.0

README

darwin_gazebo

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.

Darwin model in Gazebo

Tutorial

A tutorial describing how to use this package can be found at:

http://www.generationrobots.com/en/content/83-carry-out-simulations-and-make-your-darwin-op-walk-with-gazebo-and-ros

Install

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

Usage

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

ROS API

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

Python API

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) # Stop

Dependencies

The following ROS packages have to be installed:

gazebo_ros_control
hector_gazebo

License

This software is provided by Génération Robots http://www.generationrobots.com and HumaRobotics http://www.humarobotics.com under the Simplified BSD license

CONTRIBUTING

No CONTRIBUTING.md found.

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.

darwin_gazebo repository

Repository Summary

Packages

README

darwin_gazebo

Tutorial

Install

Usage

ROS API

Python API

Dependencies

License

CONTRIBUTING

Repository Summary

Packages

README

darwin_gazebo

Tutorial

Install

Usage

ROS API

Python API

Dependencies

License

CONTRIBUTING