gundam_robot repository

Repository Summary

Checkout URI https://github.com/gundam-global-challenge/gundam_robot.git
VCS Type git
VCS Version master
Last Updated 2020-01-28
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

gundam_robot Build Status

ROS packages for GUNDAM robots

GUNDAM Gazebo Simulation

How to visualize URDF model

To visualize URDF file in your rviz, you can use display.launch file.

$ roslaunch gundam_rx78_description display.launch

How to run gazebo simulation

To run a gazebo dynamics simulation, you can start gundam_rx78_world.launch.

$ roslaunch gundam_rx78_gazebo gundam_rx78_world.launch

To control joint angles, try a sample script.

# move upper body
$ rosrun gundam_rx78_control joint_trajectory_client_example.py

Experimental

You can run "Robot"-like walking pattern on simulation

$ roslaunch gundam_rx78_gazebo gundam_rx78_walk.launch

# step
$ rosrun gundam_rx78_control joint_trajectory_client_csv.py `rospack find gundam_rx78_control`/sample/csv/step.csv
# walk forward
$ rosrun gundam_rx78_control joint_trajectory_client_csv.py `rospack find gundam_rx78_control`/sample/csv/walk-forward.csv
# walk backward
$ rosrun gundam_rx78_control joint_trajectory_client_csv.py `rospack find gundam_rx78_control`/sample/csv/walk-backward.csv
# walk to right
$ rosrun gundam_rx78_control joint_trajectory_client_csv.py `rospack find gundam_rx78_control`/sample/csv/walk-to-right.csv
# walk to left
$ rosrun gundam_rx78_control joint_trajectory_client_csv.py `rospack find gundam_rx78_control`/sample/csv/walk-to-left.csv
# turn right
$ rosrun gundam_rx78_control joint_trajectory_client_csv.py `rospack find gundam_rx78_control`/sample/csv/turn-right.csv
# turn left
$ rosrun gundam_rx78_control joint_trajectory_client_csv.py `rospack find gundam_rx78_control`/sample/csv/turn-left.csv

Note that currently, we have several limitation on this simulation, we only have position controller etc.

You can also find sample motion control files in the gundam_rx78_control/sample directory.

For Developers Only

How to setup workspace

We recommend you to use wstool to setup you workspace.

$ mkdir -p catkin_ws/src
$ cd  catkin_ws
$ wstool init src
$ wstool merge -t src https://raw.githubusercontent.com/gundam-global-challenge/gundam_robot/.gundam.rosinstall
$ wstool update -t src
$ source /opt/ros/$ROS_DISTRO/setup.bash
$ rosdep install -y -r --from-paths src --ignore-src
$ catkin build
$ source devel/setup.bash

How to install mesh and urdf file

The Gundam URDF file is automatically generated from Collada DAE file.

First, download the Gundam Collada file (ex. GGC_TestModel_rx78_20170112.DAE) under gundam_rx78_description directory. Then, run ./scripts/dae_to_urdf.py file with the downloaded file name as an argument. This will create mesh files under meshes/ directory and create the URDF file under urdf/ directory.

Finally, rename the file name to urdf/gundam_rx78.urdf

$ roscd gundam_rx78_description
$ python ./scripts/ggc_dae_to_urdf.py GGC_TestModel_rx78_20170112.DAE --write_mesh
$ mv urdf/GGC_TestModel_rx78_20170112.urdf urdf/gundam_rx78.urdf

You have to use urdf_parser_py version 0.4.0 instead of version 0.4.1.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/gundam-global-challenge/gundam_robot.git
VCS Type git
VCS Version master
Last Updated 2020-01-28
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

gundam_robot Build Status

ROS packages for GUNDAM robots

GUNDAM Gazebo Simulation

How to visualize URDF model

To visualize URDF file in your rviz, you can use display.launch file.

$ roslaunch gundam_rx78_description display.launch

How to run gazebo simulation

To run a gazebo dynamics simulation, you can start gundam_rx78_world.launch.

$ roslaunch gundam_rx78_gazebo gundam_rx78_world.launch

To control joint angles, try a sample script.

# move upper body
$ rosrun gundam_rx78_control joint_trajectory_client_example.py

Experimental

You can run "Robot"-like walking pattern on simulation

$ roslaunch gundam_rx78_gazebo gundam_rx78_walk.launch

# step
$ rosrun gundam_rx78_control joint_trajectory_client_csv.py `rospack find gundam_rx78_control`/sample/csv/step.csv
# walk forward
$ rosrun gundam_rx78_control joint_trajectory_client_csv.py `rospack find gundam_rx78_control`/sample/csv/walk-forward.csv
# walk backward
$ rosrun gundam_rx78_control joint_trajectory_client_csv.py `rospack find gundam_rx78_control`/sample/csv/walk-backward.csv
# walk to right
$ rosrun gundam_rx78_control joint_trajectory_client_csv.py `rospack find gundam_rx78_control`/sample/csv/walk-to-right.csv
# walk to left
$ rosrun gundam_rx78_control joint_trajectory_client_csv.py `rospack find gundam_rx78_control`/sample/csv/walk-to-left.csv
# turn right
$ rosrun gundam_rx78_control joint_trajectory_client_csv.py `rospack find gundam_rx78_control`/sample/csv/turn-right.csv
# turn left
$ rosrun gundam_rx78_control joint_trajectory_client_csv.py `rospack find gundam_rx78_control`/sample/csv/turn-left.csv

Note that currently, we have several limitation on this simulation, we only have position controller etc.

You can also find sample motion control files in the gundam_rx78_control/sample directory.

For Developers Only

How to setup workspace

We recommend you to use wstool to setup you workspace.

$ mkdir -p catkin_ws/src
$ cd  catkin_ws
$ wstool init src
$ wstool merge -t src https://raw.githubusercontent.com/gundam-global-challenge/gundam_robot/.gundam.rosinstall
$ wstool update -t src
$ source /opt/ros/$ROS_DISTRO/setup.bash
$ rosdep install -y -r --from-paths src --ignore-src
$ catkin build
$ source devel/setup.bash

How to install mesh and urdf file

The Gundam URDF file is automatically generated from Collada DAE file.

First, download the Gundam Collada file (ex. GGC_TestModel_rx78_20170112.DAE) under gundam_rx78_description directory. Then, run ./scripts/dae_to_urdf.py file with the downloaded file name as an argument. This will create mesh files under meshes/ directory and create the URDF file under urdf/ directory.

Finally, rename the file name to urdf/gundam_rx78.urdf

$ roscd gundam_rx78_description
$ python ./scripts/ggc_dae_to_urdf.py GGC_TestModel_rx78_20170112.DAE --write_mesh
$ mv urdf/GGC_TestModel_rx78_20170112.urdf urdf/gundam_rx78.urdf

You have to use urdf_parser_py version 0.4.0 instead of version 0.4.1.

CONTRIBUTING

No CONTRIBUTING.md found.