Rover: Walking robot support #14884
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Rover: Walking robot support #14884
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Really great to see this PR and video! well done! |
rmackay9
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Jul 23, 2020
rmackay9
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Jul 23, 2020
rmackay9
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Jul 23, 2020
rmackay9
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rmackay9
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Jul 23, 2020
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On Wed, 22 Jul 2020, Randy Mackay wrote:
I think this is a good way to do this actually. Let's just change the "selector" to be an enum.
Where I *think* Randy means "enum class" :-)
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rmackay9
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Jul 23, 2020
rmackay9
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khancyr
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OK, that is quite nice ! I have manage to use it.
Some comment, the model should have an arrow or something to show the forward direction.
it is surprisingly auto arming ...
We definitely need to remove the pyrobotlearn dependency.
I will put some comments on lua this afternoon
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I struggled a bit to get this working. Some key points and instructions:
In the instructions at the top of this PR, whenever it says type "python" you should actually type "python3" |
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The alternatively PR has gone in so I'll close this one. We will need a new PR with the follow-up fixes. |
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This PR adds support for walking robots
Demo video
Steps to run simulation :
Ensure the PC is runing Ubuntu 18.04 (other versions may work but this has not been confirmed yet)
pip3 install pybullet
cd to the ardupilot/Rover directory
create a "scripts" directory and copy "/libraries/AP_Scripting/examples/quadruped.lua" into it
start SITL using, "../Tools/autotest/simvehicle.py --map --console -D -f JSON"
Enable scripting with "param set SCR_ENABLE 1" and then restart SITL
From
ardupilot/libraries/SITL/examples/JSON/pybullet/run
python3 walking_robot.pyControl inputs :
Channel 1: Yaw input
Channel 3: Throttle input
Channel 6: Gait select (switch)
rc 6 > 1500 : two legs alternating gait
rc 6 < 1500 : one leg wave gait
Channel 7: Control mode selector (3 way switch)
rc 7 = 1500 : Height control
rc 7 >1500 : Rotation control
rc 7 < 1500 : Position control
In Height control
In Rotation control
In Position control
To do: