MayankD409 / Bruno_Quadruped_Sim

Bruno is a Quadruped robot that can be simulated in Gazebo using ROS2. This repository contains all the code to required to setup the simulation of bruno in any system.

MIT License

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Bruno_Quadruped_Sim

Introduction

This project aims to simulate a quadruped robot in Gazebo and control it with keyboard/Joypad commands using ROS2 Humble.

Features

[x] URDF model of a quadruped robot
[x] ROS2 package for simulation and teleoperation
[x] Teleoperation node for Virtual Joypad Control
[ ] Teleoperation node for keyboard control
[x] Launch files for Gazebo simulation and teleoperation :tada:

Dependencies

OS: Ubuntu Linux 22.04 Jammy Jellyfish
ROS Version: ROS2 Humble
Python3

Instruction to run the simulation

Follow the steps below to setup the repository:

# source ROS2 and Build the workspace
source /opt/ros/galactic/setup.bash
# Create a workspace
mkdir -p ~/bruno_ws/src
cd bruno_ws/src
# Clone the repository in the workspace
git clone https://github.com/MayankD409/Bruno_Quadruped_Sim.git
# Install the dependencies
cd ~/bruno_ws
rosdep install -i --from-path src --rosdistro humble -y
# build the workspace
colcon build --symlink-install

To run the simulation open the terminal and follow the below steps:

# source ROS2
source /opt/ros/galactic/setup.bash
# Source the workspace
cd ~/bruno_ws
source install/setup.bash
# Run the launch file
ros2 launch bruno debug.launch.py

Open another terminal to launch the virtual Joypad Node for teleoperation:

# source ROS2
source /opt/ros/galactic/setup.bash
# Launch the Joypad
cd ~/bruno_ws/src/UI
python3 controller.py

License

This project is licensed under the MIT License - see the LICENSE file for details.