Spyndra-ROS-Simulator

This project provides a simulation environment in ROS to mimic the open-source robotic platform Spyndra.

Installation

This project assumes using ROS Indigo and Ubuntu 14.04 LTS.

1. Suppose you have not create your ROS workspace. You can create one by the command.

   $ mkdir -p ~/catkin_ws/src
   

2. Go to the workspace and download the repository.

   $ cd ~/catkin_ws/src
   $ git clone https://github.com/roboticistYan/Spyndra-ROS-Simulation
   

3. Make sure you have ros_control packages

   $ sudo apt-get install ros-indigo-ros-control ros-indigo-ros-controllers
   $ sudo apt-get install ros-indigo-gazebo-ros-control ros-indigo-effort-controllers ros-indigo-joint-state-controller ros-indigo-joint-trajectory-controller
   

4. Check ROS dependencies

   $ rosdep update
   $ rosdep check --from-paths src --ignore-src --rosdistro indigo
   

   If any dependency is missing, you can auto-install them by the command

   $ cd ~/catkin_ws
   $ rosdep install --from-paths src --ignore-src --rosdistro indigo -y
   

5. Build the source code.

   $ cd ~/catkin_ws
   $ catkin_make
   

6. To verify installation, launch the following command.

   $ source ~/catkin_ws/devel/setup.bash
   $ roslaunch spyndra_ros_simulator 01-basicmove.launch
   

   If you see things similar to the screenshot below, you are all set for this project.

   

Running Simulation

1. First, invode the Spyndra model in gazebo

   $ roslaunch spyndra_gazebo spyndra.launch
   

   This command should bring up gazebo interface like this:

   

2. Now we need to invoke the controller

   $ roslanch spyndra_control spyndra_control.launch
   

3. In order to check if the controller is successfully launched, issue the command

   $ rostopic list
   

   If you see the output below, you are ready to generate angle commands.

   /clock
   /gazebo/link_states
   /gazebo/model_states
   /gazebo/parameter_descriptions
   /gazebo/parameter_updates
   /gazebo/set_link_state
   /gazebo/set_model_state
   /imu
   /rosout
   /rosout_agg
   /spyndra/joint1_position_controller/command
   /spyndra/joint1_position_controller/pid/parameter_descriptions
   /spyndra/joint1_position_controller/pid/parameter_updates
   /spyndra/joint1_position_controller/state
   /spyndra/joint2_position_controller/command
   /spyndra/joint2_position_controller/pid/parameter_descriptions
   /spyndra/joint2_position_controller/pid/parameter_updates
   /spyndra/joint2_position_controller/state
   /spyndra/joint3_position_controller/command
   /spyndra/joint3_position_controller/pid/parameter_descriptions
   /spyndra/joint3_position_controller/pid/parameter_updates
   /spyndra/joint3_position_controller/state
   /spyndra/joint4_position_controller/command
   /spyndra/joint4_position_controller/pid/parameter_descriptions
   /spyndra/joint4_position_controller/pid/parameter_updates
   /spyndra/joint4_position_controller/state
   /spyndra/joint5_position_controller/command
   /spyndra/joint5_position_controller/pid/parameter_descriptions
   /spyndra/joint5_position_controller/pid/parameter_updates
   /spyndra/joint5_position_controller/state
   /spyndra/joint6_position_controller/command
   /spyndra/joint6_position_controller/pid/parameter_descriptions
   /spyndra/joint6_position_controller/pid/parameter_updates
   /spyndra/joint6_position_controller/state
   /spyndra/joint7_position_controller/command
   /spyndra/joint7_position_controller/pid/parameter_descriptions
   /spyndra/joint7_position_controller/pid/parameter_updates
   /spyndra/joint7_position_controller/state
   /spyndra/joint8_position_controller/command
   /spyndra/joint8_position_controller/pid/parameter_descriptions
   /spyndra/joint8_position_controller/pid/parameter_updates
   /spyndra/joint8_position_controller/state
   /spyndra/joint_states
   /tf
   /tf_static
   

4. After confirming the rostopic, you can test the simple harmonic walk (sine wave with phase lag)

   $ rosrun spyndra_ros_simulation sine_walk
   

License

This work is licensed under MIT License.