DEPRECATED: THIS REPOSITORY IS NO LONGER MAINTAINED

Please check out Y-modify/deepl2

deepl2-ros-gazebo

An experiment to make YamaX walk in the simulation environment using ROS and Gazebo.

DeepL2 Project: https://blog.y-modify.org/2018/01/04/deepl2-start/

Get started

docker-compose up -d

then connect to localhost:5900 using VNC

Setup

. /opt/ros/lunar/setup.sh
. devel/setup.sh

Launch a simurator and controllers

roslaunch yamax_gazebo world.launch # gui:=true headless:=false if you need gui

Now you can control joints by publishing to /yamax/{joint_name}_position_controller/command

Example:

rostopic pub /yamax/neck_position_controller/command std_msgs/Float64 1.57

Will turn the head to 90°

Launch controllers

roslaunch yamax_control yamax_control.launch

Rviz

You need urdf_tutorial package if you don't have rviz config file(.rviz)

roslaunch yamax_description display.launch