Fudan Humanoid Controller

For controlling Fudan University's humanoid robot joints (low-level joint control). It wraps the robot's low level control lib and exposes as ROS2 and DDS services.

Overview

There are two implementations: ROS2 and DDS. humanoid_controller folder contains ROS2 package. humanoid_controller_dds folder contains DDS client-server solution.

Features

• Joint angle control
• Real-time joint state feedback
• Robot enable/disable functionality
• Status monitoring

Dependencies

humanoid_controller requires:

• ROS2 (foxy and up)
• Python 3.8+
• Gene SDK (Provided as .so files)

humanoid_controller_dds requires:

• Python 3.8+
• cyclonedds
• Gene SDK (Provided as .so files)`

Build and Usage

Step 1. Build Gene Interface

See /gene_interface/README.md

Step 2. Build Ethercat Interface

See /ethercat_interface/README.md

Step 2. Build Humanoid Controller ROS2 or DDS

Choose the one that you need. ROS2 package see: /humanoid_controller/README.md DDS client-server see: /humanoid_controller_dds/README.md