simple_dog_simulation

A simulation four leg robot simulation with gazebo TODO(Shunyao): add a foot contact sensor

Build

cd your_catkin_ws/src
catkin_make
source ~/.bashrc

Usage

• Launch dog model in a empty world roslaunch simpledog simpledog_empty_world.launch

• Launch just RVIZ roslaunch simpledog simpledog_display.launch For the REAL quadruped roslaunch simpledog quadruped_display.launch

• Launch interactive maker to send control target of leg roslaunch simpledog quadruped_interactive_marker.launch TODO Usage

• Launch in a world with some obstacles roslaunch simpledog simpledog_simulation.launch Attention: open the test_terrain.world and search for <model name='test_terrian_slope_and_stairs'>, replace the STL model uri with you computer uri

• Pose Publisher rosrun sim_assiants pose_pub_node

  this is to publish the absolute base_link pose in world(odom frame), and TF, and a customed RobotState message

  Node [/pose_pub_node]

  • Publications:
  • /gazebo/robot_states [free_gait_msgs/RobotState]

  • /pose_pub_node/base_pose [geometry_msgs/PoseWithCovarianceStamped]

  • /rosout [rosgraph_msgs/Log]

  • /tf [tf2_msgs/TFMessage]

  Subscriptions:

  • /clock [rosgraph_msgs/Clock]

  • /gazebo/model_states [gazebo_msgs/ModelStates]

  • /joint_states [sensor_msgs/JointState]

• Foot sensor rosrun sim_assiants bumper_sensor_filter_node

  this is to run a node to filter contact information from bumper sensor message

  Node [/bumper_sensor_filter_node]

  Publications:

  • /bumper_sensor_filter_node/lf_foot_contact [sim_assiants/FootContact]

  • /bumper_sensor_filter_node/lf_foot_force [geometry_msgs/WrenchStamped]

  • /bumper_sensor_filter_node/lh_foot_contact [sim_assiants/FootContact]

  • /bumper_sensor_filter_node/lh_foot_force [geometry_msgs/WrenchStamped]

  • /bumper_sensor_filter_node/rf_foot_contact [sim_assiants/FootContact]

  • /bumper_sensor_filter_node/rf_foot_force [geometry_msgs/WrenchStamped]

  • /bumper_sensor_filter_node/rh_foot_contact [sim_assiants/FootContact]

  • /bumper_sensor_filter_node/rh_foot_force [geometry_msgs/WrenchStamped]

  Subscriptions:

  • /clock [rosgraph_msgs/Clock]

  • /lf_foot_bumper [gazebo_msgs/ContactsState]

  • /lh_foot_bumper [gazebo_msgs/ContactsState]

  • /rf_foot_bumper [gazebo_msgs/ContactsState]

  • /rh_foot_bumper [gazebo_msgs/ContactsState]

How to control the robot

Publish ROS msg sensor_msgs/JointStates topic: joint position array of 12 elements

• 0 -> 2 front left leg
• 3 -> 5 front right leg
• 6 -> 8 hind right leg
• 9 -> 11 hind left leg

ros::Publisher joint1ControllerCommandPub =
        nh.advertise<std_msgs::Float64>("front_left_1_joint_position_controller/command",1);
ros::Publisher joint2ControllerCommandPub =
        nh.advertise<std_msgs::Float64>("front_left_2_joint_position_controller/command",1);
ros::Publisher joint3ControllerCommandPub =
        nh.advertise<std_msgs::Float64>("front_left_3_joint_position_controller/command",1);
ros::Publisher joint4ControllerCommandPub =
        nh.advertise<std_msgs::Float64>("front_right_1_joint_position_controller/command",1);
ros::Publisher joint5ControllerCommandPub =
        nh.advertise<std_msgs::Float64>("front_right_2_joint_position_controller/command",1);
ros::Publisher joint6ControllerCommandPub =
        nh.advertise<std_msgs::Float64>("front_right_3_joint_position_controller/command",1);
ros::Publisher joint7ControllerCommandPub =
        nh.advertise<std_msgs::Float64>("rear_right_1_joint_position_controller/command",1);
ros::Publisher joint8ControllerCommandPub =
        nh.advertise<std_msgs::Float64>("rear_right_2_joint_position_controller/command",1);
ros::Publisher joint9ControllerCommandPub =
        nh.advertise<std_msgs::Float64>("rear_right_3_joint_position_controller/command",1);
ros::Publisher joint10ControllerCommandPub =
        nh.advertise<std_msgs::Float64>("rear_left_1_joint_position_controller/command",1);
ros::Publisher joint11ControllerCommandPub =
        nh.advertise<std_msgs::Float64>("rear_left_2_joint_position_controller/command",1);
ros::Publisher joint12ControllerCommandPub =
        nh.advertise<std_msgs::Float64>("rear_left_3_joint_position_controller/command",1);

There also joint feed back, rostopic list to see some feedback topic