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robomechanics / quad-sdk

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.
https://robomechanics.github.io/quad-sdk/
MIT License
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Launch usage on REAL homemade robot. #349

Closed elpimous closed 1 year ago

elpimous commented 1 year ago

Hello the team, working on real robot, other than unitree. Could you tell me what nodes should i run to make my robot walk ?!

i don't use any visualization gui (gazebo/rviz)

Robot is autonomous, no remote.

jcnorby commented 1 year ago

As mentioned in https://github.com/robomechanics/quad-sdk/issues/341, we do not provide any readymade launch file for hardware implementation since every robot is different (especially homemade ones), so this is up to you. We wish we could help everyone use this code on every quadruped out there, but we are just a lil ol research lab with finite resources.

That said, we have provided our launch files - robot_driver.launch and remote_driver.launch - which we use to launch the nodes that we run on our own robot hardware and remote computer respectively. It sounds like some version of robot_driver.launch is what you are looking for, so I'd recommend modifying it as needed (and testing your custom HardwareInterface class). Details on all the launch files included in this repo can be found here.