Aliengo robot description for mc_rtc

This package has additional convex and rsdf files for mc_aliengo robot module used by mc_rtc control framework. Aliengo robot has urdf and meshes in the original aliengo_description package.

It contains the following directories:

• convex/: convex hulls (generated from pointclouds sampled from the dae meshes)
• rsdf/: Special urdf-like format describing surfaces attached to links on the robot
• scripts/: This folder has a script that generates urdf and convex

Installation

On an environment with ROS and catkin properly setup:

$ cd ~/catkin_ws/src
$ svn export https://github.com/unitreerobotics/unitree_ros/trunk/robots/aliengo_description
$ git clone https://github.com/mc_aliengo_description
$ cd mc_aliengo_description/scripts
$ python ./generate_urdf.py ../../aliengo_description/urdf/aliengo.urdf
$ cd ~/catkin_ws
$ catkin_make
$ cd build
$ make install

If your catkin environment is sourced source ~/catkin_ws/install/setup.bash, the robot model will be available to all ROS tools, and mc_rtc robot module.

To display the robot, you can use:

$ roslaunch mc_aliengo_description display_aliengo.launch

• If you have mc_rtc and the corresponding robot module installed, you can use the convexes:=True or surfaces:=True arguments to display the robot convexes and surfaces.

---

When updating convex files

Dependencies

• aliengo_description
• mesh_sampling
• qhull-bin

Generation of convex files

To run the conversion, simply run

$ source ~/catkin_ws/devel/setup.bash
$ cd ~/catkin_ws/src/mc_aliengo_description/scripts
$ ./generate_convex.sh ~/catkin_ws/src/aliengo_description
  Running generate_convex.sh script from directory ~/catkin_ws/src/mc_aliengo_description/scripts
      :
      :
  Successfully generated convex from fetch_description package in /tmp/mc_aliengo_description
$ mv /tmp/mc_aliengo_description/convex/aliengo ~/catkin_ws/src/mc_aliengo_description/convex/.