BarelangFC ROS Motion Interface

How to setup and run

1. Install ROS Kinetic, follow this link http://wiki.ros.org/kinetic/Installation/Ubuntu

2. Clone the workspace

   cd ~
   git clone https://github.com/ekorudiawan/BarelangFC_ROS.git
   cd BarelangFC_ROS
   rm -rf build
   catkin_make 
   source devel/setup.bash

3. Run ROS motion interface

   roslaunch barelang_motion_bridge barelang_motion_bridge.launch

   Robot should activate, but not standing up

4. Controlling the robot through ROS interface

   Make the robot stand up

   rostopic pub /motion/state std_msgs/String "data: 'stand'"

   Make the robot sit down

   rostopic pub /motion/state std_msgs/String "data: 'sit'" 

   Start Walking

   rostopic pub /motion/state std_msgs/String "data: 'start'"

   Stop Walking

   rostopic pub /motion/state std_msgs/String "data: 'stop'"

   Control motion velocity (only executed after calling start walking).

   vx = linear x, vy = linear y, va = linear z

   rostopic pub /motion/cmd_vel geometry_msgs/Twist "linear:
   x: 0.0
   y: 0.0
   z: 0.0
   angular:
   x: 0.0
   y: 0.0
   z: 0.0"