quadruped_locomoton

package for quadruped locomotion

Dependencies

• kindr
• grid_map
• simple_dog_simulatuion
• ooqp_eigen_interface
• MA27
• OOQP
• RBDL
• others

Build Dependencies

• first build and install kindr

• build and install RBDL follow instructions in the corresponding floder;

```
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release RBDL_BUILD_ADDON_URDFREADER=TRUE ../
sudo make install
```

then and .cmake file for cmake to find RBDL

```
cd usr/local/lib/cmake
sudo mkdir rbdl
sudo cp RBDLConfig.cmake /usr/local/lib/cmake/rbdl
```

• git clone other ROS dependence package AND run catkin_make
• Bugs
  • first build package >>free_gait_msgs
  • then build package sim_assiants in simpledog_simulation

Install

Usage

• Launch simulation environment

  roslaunch simpledog quadruped_simulation.launch

• Launch real robot(not fully surpported but can use for motor test)

  roslaunch balance_controller balance_conoller_manager.launch

• Launch free_gait

  roslaunch free_gait_ros test.launch

• Start rqt user interface

  roslaunch balance_controller rqt_interface.launch

After these step, there would be a gazebo simulation and a rqt interface.

• First, move the dog model and place it in the gazebo.
• Second, refresh the action collections, and send a sitdown action
• push the switch botton, if the robot move correctly, then it start normally; otherwise, push Back botton, the robot reset to the ground
• click Trot botton, the robot start torting, click stop, it stops troting, when torting, you can send cmd_vel msg to control the move.
• control panel in the right bottom can use to switch controller and controll single joint.

• Use Interactive Marker

If use a interactive marker in RVIZ to send a single footstep goal; instead launch the rqt_interface.launch , do: roslaunch simpledog quadruped_interactive_marker.launch

Control Panel

when you launch the file for real robot, you actually connected to some EtherCAT driver, so you can use control panel to control motor via EtherCAT.