Re-organized LIPM Walking Controller for Joystick Walking

Video link is here

This version of LIPM walking controller is mainly developed by Arnaud Tanguy.

He fixed the "double stepping" problem, communication delay between several PCs for the experiment, and so on.

And then, Masato Tsuru added an interface for PS4 controller, Oculus controller, and RViz gui menu.

If you want to try walking HRP4CR with PS4 Joystick, this version must be the easiest way.

Required environments

Required components and libraries :

• Ubuntu 18.04 LTS
• ROS melodic (desktop full)
• mc_rtc, the latest version (2021/1/18) https://github.com/jrl-umi3218/mc_rtc
• openrtp environment (private repository)
• HRP4CR robot model and its mc_rtc support (private repository)
• Online Footstep Planner, the latest version (2021/1/18) https://github.com/isri-aist/OnlineFootstepPlanner
• PS4 controller and USB cable

__Basically, drcutl's environment setup script and mc_rtc installation script automatically set up most of those libraries.__

Only "OnlineFootstepPlanner" is not automatically installed by those scripts.

About the installation of OnlineFootstepPlanner, please visit its page

How to build

1. download this repository:

$ git clone git@github.com:TsuruMasato/lipm_walking_controller.git (default branch "rebase_stabilizer_ana")

2. go into the repository and make "build" directory:

$ mkdir build

3. go into the build directory and run ccmake :

$ ccmake ..

Turn on AUTOLOAD_ExternalFootstepPlannerPlugin option.

And also, don't forget to set CMake Install prefix to /home/your_name/openrtp.

4. build this controller, and install it :

$ make -j8

$ make install

How to run

First, please switch the mc_controller in your mc_rtc configuration as doing below :

$ nano ~/.config/mc_rtc/mc_rtc.yaml

MainRobot: HRP4CR
Timestep: 0.002
Enabled: LIPMWalking

You need at least these 4 terminal windows.

• ROS core
• Choreonoid simulation
• RViz as mc_rtc control interface
• Online Footstep Planner

process

1. start ROS core in 1th terminal :

$ roscore

2. Please go to the HRP4CR directory in openrtp system in 2nd terminal :

$ cd ~/openrtp/share/hrpsys/samples/HRP4CR

3. Start Choreonoid simulation in 2nd terminal :

$ choreonoid sim_mc_openrtp_bush.cnoid

and please click the starting button in Choreonoid.

Now, the LIPM walking controller is running. The HRP4CR robot model will keep standing.

(if the robot fails on the ground, $ clear-omninames.sh sometimes solve it.)

(Even clear-omninames.sh cannot help you, your hrpsys-humanoid is too old. please update all libraries with drcutl script.)

4. Start RViz in 3rd terminal :

$ roslaunch mc_rtc_ticker display.launch

5. Plug your PS4 controller to a USB port, and start Online Footstep Planner in 4th terminal :

$ roslaunch online_footstep_planner run_demo_in_sim_rebase.launch

Joystick connection node and Online Footstep Planner node start.

If you can see the yellow warning message "received a map" like below-right side of the picture, it's success!!

GUI menu

After starting the whole system, you have to select some GUI options.

1. Go to "Walking" tab in the control panel in RViz

2. Click "start standing" button.

The stabilizer task becomes enable, and HRP4CR starts balancing.

3. Set Footstep plan menu to "external"

4. Change Target type to "PS4 Controller"

5. Now you can walk the robot via Joysticks!!

Left Joystick leads the robot walking foward/backward/left/right, and Right Joystick makes him turn.