opr_ros

ROS package for CIT Open Platform Robot GankenKun. Tested on ROS Kinetic.

Installation

1. Install ros
2. create ROS workspace

$ sudo apt install python-catkin-tools
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws
$ catkin init
$ echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc
$ echo 'source `catkin locate --shell-verbs`' >> ~/.bashrc

3. clone repository

$ cd ~/catkin_ws/src
$ git clone https://github.com/citbrains/opr_ros.git
$ wstool init .
$ wstool merge opr_ros/opr_ros.rosinstall
$ wstool update
$ rosdep install --from-paths opr_ros --ignore-src --rosdistro kinetic

4. build and source

$ cd ~/catkin_ws
$ catkin build opr_ros
$ catkin source

Usage

• View URDF model on RViz

$ roslaunch opr_bringup display_xacro.launch model:='$(find opr_description)/robots/gankenkun_v3.xacro' gui:=true

• Gazebo Simulation

$ roslaunch opr_bringup simulation.launch

• Real Robot

$ roslaunch opr_bringup gankenkun_v3.launch

• Hajime Walk Control

First launch either the Gazebo Simulation or Real Robot then launch the following:

$ roslaunch hajime_walk_ros hajime_walk.launch

Example: stepping on the spot

$ rostopic pub /hajime_walk/walk opr_msgs/HajimeWalk -- '0' '0' '0' '0' '0'

Package Description

• hajime_walk_ros
  • collection of files related hajime walk/motion control
• opr_bringup
  • collection of launch files to bring up actual robot and robot simulation
• opr_description
  • collection of robot model's urdf, CAD data (stl), collada data (dae)
• opr_gazebo
  • collection of gazebo related files
• opr_kondo_driver
  • collection of B3M servo motor related files
• opr_msgs
  • collection of custom ROS messages
• opr_ros
  • package to build other package
• opr_ros_control
  • collection of ros controllers
• opr_user_interface
  • collection of user interface files