canis_ws

Overview

This is the source code for controlling a fully operational robot dog. It controls everything from the path planning, to the odometry, to the inverse kinematics.

Directions

1. Install Ubuntu 20.04 and install ROS Noetic
2. Have both source /opt/ros/noetic/setup.bash and source ~/(your workspace name)/devel/setup.bash in your bashrc
3. Open a new terminal to resource your bashrc after having added the previous lines
4. Run roslaunch robot_core main.launch to run the ROS nodes
5. To test if its working, run rostopic echo /actuation/leg/forearm/superior/right in a new window to . In another new window run rostopic pub /desired_pos/superior/right geometry_msgs/PointStamped "{header: auto, point: {x: 0, y: 0, z: -0.1}}" and watch the rostopic echo window and you should see an angle published with the resulting angle position.
6. To set vel run: rostopic pub /command/twist geometry_msgs/TwistStamped "{header: auto, twist: {linear: {x: 0.01, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0}}}"