Rscuad kinematic and control

simple control

Running simple joint

• Gazebo running

$ roslaunch rscuad_gazebo rscuad_world.launch

• move joint
• change parameter in rscuad_move_joint_node.cpp

$ rosrun rscuad_move_joint rscuad_move_joint_node

Running walking

• Gazebo running

$ roslaunch rscuad_gazebo rscuad_world.launch

• walking

$ roslaunch rscuad_demo demo.launch

ROS API

All topics are provided in the /rscuad namespace.

Actuators (radians for position control):

  /rscuad/l_hip_yaw_position/command
  /rscuad/l_hip_roll_position/command
  /rscuad/l_hip_pitch_position/command
  /rscuad/l_knee_position/command
  /rscuad/l_ank_roll_position/command
  /rscuad/l_ank_pitch_position/command
  /rscuad/r_hip_yaw_position/command
  /rscuad/r_hip_roll_position/command
  /rscuad/r_hip_pitch_position/command
  /rscuad/r_knee_position/command
  /rscuad/r_ank_roll_position/command
  /rscuad/r_ank_pitch_position/command
  /rscuad/l_sho_pitch_position/command
  /rscuad/l_sho_roll_position/command
  /rscuad/l_el_position/command
  /rscuad/r_sho_pitch_position/command
  /rscuad/r_sho_roll_position/command
  /rscuad/r_el_position/command
  /rscuad/head_pan_position/command
  /rscuad/head_tilt_position/command

camera

rosrun image_view image_view image:=/camera/rgb/image_raw

camera API

rostopic echo /light_sensor_plugin/lightSensor

get odometry

• get name model

$ rosservice call /gazebo/get_world_properties

• call odom

$ rosservice call /gazebo/get_model_state "model_name: 'the_name_of_your_robot' relative_entity_name: ' ' "

• using program

$ rosrun walking odom.py

checker flow urdf

$ rosrun xacro xacro.py src/rscuad/urdf/rscuad.xacro

Author

Danu andrean