phantomx_gazebo repository

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
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
phantomx_gazebo 0.1.0

README

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.

Phantom X model in Gazebo

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

CONTRIBUTING

No CONTRIBUTING.md found.

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
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
phantomx_gazebo 0.1.0

README

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.

Phantom X model in Gazebo

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

CONTRIBUTING

No CONTRIBUTING.md found.