Simplified descritption files of the HyQ2Max robot, from IIT, to use in the ROS 2 Galactic.
To control the joints postion is necessary use the package hyq2max_ros2_impedance_controller and hyq2max_interfaces.
Also, it is necessary the ros2_control, ros2_controller, gazebo_ros2_control.
To change the joints references it is necessary to publish the new references at "/hyq2max_ros2_impedance_controller/commands" topic, using the following format:
ros2 topic pub /hyq2max_ros2_impedance_controller/commands hyq2max_interfaces/msg/JointsReferences '{q_r: [-0.05, 0.45, -1.18, -0.05, 0.45, -1.18, -0.05, -0.45, -1.18, -0.05, -0.45, 1.18], qd_r:[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}'
All the robot states are avalible in the topic "/hyq2max_ros2_impedance_controller/robot_states".