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renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/include/gait_config.h | #ifndef GAIT_CONFIG_H
#define GAIT_CONFIG_H
#define KNEE_ORIENTATION ">>"
#define PANTOGRAPH_LEG false
#define ODOM_SCALER 1.15
#define MAX_LINEAR_VELOCITY_X 0.5
#define MAX_LINEAR_VELOCITY_Y 0.25
#define MAX_ANGULAR_VELOCITY_Z 1.0
#define COM_X_TRANSLATION -0.05
#define SWING_HEIGHT 0.035
#define STANCE_DEPTH 0.0
#define STANCE_DURATION 0.25
#define NOMINAL_HEIGHT 0.35
#endif | 459 | C | 27.749998 | 37 | 0.636166 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/links/links.yaml | base: base_link
left_front:
- lf_hip_link
- lf_upper_leg_link
- lf_lower_leg_link
- lf_foot_link
right_front:
- rf_hip_link
- rf_upper_leg_link
- rf_lower_leg_link
- rf_foot_link
left_hind:
- lh_hip_link
- lh_upper_leg_link
- lh_lower_leg_link
- lh_foot_link
right_hind:
- rh_hip_link
- rh_upper_leg_link
- rh_lower_leg_link
- rh_foot_link | 374 | YAML | 14.624999 | 21 | 0.631016 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/ros_control/ros_control.yaml | "":
joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
joint_group_position_controller:
type: effort_controllers/JointTrajectoryController
joints:
- lf_hip_joint
- lf_upper_leg_joint
- lf_lower_leg_joint
- rf_hip_joint
- rf_upper_leg_joint
- rf_lower_leg_joint
- lh_hip_joint
- lh_upper_leg_joint
- lh_lower_leg_joint
- rh_hip_joint
- rh_upper_leg_joint
- rh_lower_leg_joint
gains:
lf_hip_joint : {p: 180, d: 0.9, i: 20}
lf_upper_leg_joint : {p: 180, d: 0.9, i: 20}
lf_lower_leg_joint : {p: 180, d: 0.9, i: 20}
rf_hip_joint : {p: 180, d: 0.9, i: 20}
rf_upper_leg_joint : {p: 180, d: 0.9, i: 20}
rf_lower_leg_joint : {p: 180, d: 0.9, i: 20}
lh_hip_joint : {p: 180, d: 0.9, i: 20}
lh_upper_leg_joint : {p: 180, d: 0.9, i: 20}
lh_lower_leg_joint : {p: 180, d: 0.9, i: 20}
rh_hip_joint : {p: 180, d: 0.9, i: 20}
rh_upper_leg_joint : {p: 180, d: 0.9, i: 20}
rh_lower_leg_joint : {p: 180, d: 0.9, i: 20}
| 1,191 | YAML | 33.057142 | 56 | 0.506297 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/gait/gait.yaml | knee_orientation : ">>"
pantograph_leg : false
odom_scaler: 1.0
max_linear_velocity_x : 0.5
max_linear_velocity_y : 0.25
max_angular_velocity_z : 1.0
com_x_translation : -0.05
swing_height : 0.035
stance_depth : 0.0
stance_duration : 0.25
nominal_height : 0.28 | 260 | YAML | 22.727271 | 28 | 0.715385 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/joints/joints.yaml | left_front:
- lf_hip_joint
- lf_upper_leg_joint
- lf_lower_leg_joint
- lf_foot_joint
right_front:
- rf_hip_joint
- rf_upper_leg_joint
- rf_lower_leg_joint
- rf_foot_joint
left_hind:
- lh_hip_joint
- lh_upper_leg_joint
- lh_lower_leg_joint
- lh_foot_joint
right_hind:
- rh_hip_joint
- rh_upper_leg_joint
- rh_lower_leg_joint
- rh_foot_joint | 374 | YAML | 15.304347 | 22 | 0.641711 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/move_base/costmap_common_params.yaml | obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]]
transform_tolerance: 0.5
resolution: 0.05
static_map_layer:
map_topic: map
subscribe_to_updates: true
2d_obstacles_layer:
observation_sources: scan
scan: {data_type: LaserScan,
topic: scan,
marking: true,
clearing: true}
3d_obstacles_layer:
observation_sources: depth
depth: {data_type: PointCloud2,
topic: camera/depth/points,
min_obstacle_height: 0.1,
marking: true,
clearing: true}
inflation_layer:
inflation_radius: 2.0 | 594 | YAML | 20.249999 | 75 | 0.666667 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/move_base/base_local_planner_holonomic_params.yaml | DWAPlannerROS:
#http://wiki.ros.org/dwa_local_planner
min_vel_trans: 0.01
max_vel_trans: 0.5
min_vel_x: -0.025
max_vel_x: 0.5
min_vel_y: 0.0
max_vel_y: 0.0
max_vel_rot: 1.0
min_vel_rot: -1.0
acc_lim_trans: 1.7
acc_lim_x: 1.7
acc_lim_y: 0.0
acc_lim_theta: 3
trans_stopped_vel: 0.1
theta_stopped_vel: 0.1
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.34
sim_time: 3.5
sim_granularity: 0.1
vx_samples: 20
vy_samples: 0
vth_samples: 40
path_distance_bias: 34.0
goal_distance_bias: 24.0
occdist_scale: 0.05
forward_point_distance: 0.2
stop_time_buffer: 0.5
scaling_speed: 0.25
max_scaling_factor: 0.2
oscillation_reset_dist: 0.05
use_dwa: true
prune_plan: false
| 734 | YAML | 14.638298 | 40 | 0.643052 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/move_base/move_base_params.yaml | base_global_planner: global_planner/GlobalPlanner
base_local_planner: dwa_local_planner/DWAPlannerROS
shutdown_costmaps: false
controller_frequency: 5.0
controller_patience: 3.0
planner_frequency: 0.5
planner_patience: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
conservative_reset_dist: 0.1 | 308 | YAML | 19.599999 | 51 | 0.808442 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/move_base/global_costmap_params.yaml | global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
cost_scaling_factor: 10.0
plugins:
- {name: static_map_layer, type: "costmap_2d::StaticLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}
| 453 | YAML | 31.428569 | 69 | 0.673289 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/move_base/local_costmap_params.yaml | local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 2.5
height: 2.5
cost_scaling_factor: 5
plugins:
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}
| 435 | YAML | 24.647057 | 69 | 0.675862 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/README.md |
## 1. Quick Start
You don't need a physical robot to run the following demos.
### 1.1. Walking demo in RVIZ:
#### 1.1.1. Run the base driver:
roslaunch spot_config bringup.launch rviz:=true
#### 1.1.2. Run the teleop node:
roslaunch champ_teleop teleop.launch
If you want to use a [joystick](https://www.logitechg.com/en-hk/products/gamepads/f710-wireless-gamepad.html) add joy:=true as an argument.
### 1.2. SLAM demo:
#### 1.2.1. Run the Gazebo environment:
roslaunch spot_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch spot_config slam.launch rviz:=true
To start mapping:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
- Save the map by running:
roscd spot_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch spot_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch spot_config navigate.launch rviz:=true
To navigate:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
#### 1.4.1 Spawning multiple robots in Gazebo
Run Gazebo and default simulation world:
roslaunch champ_gazebo spawn_world.launch
You can also load your own world file by passing your world's path to 'gazebo_world' argument:
roslaunch champ_gazebo spawn_world.launch gazebo_world:=<path_to_world_file>
Spawning a robot:
roslaunch spot_config spawn_robot.launch robot_name:=<unique_robot_name> world_init_x:=<x_position> world_init_y:=<y_position>
* Every instance of the spawned robot must have a unique robot name to prevent the topics and transforms from clashing.
---
:exclamation: *This is not an official product from the robot's company/author.* | 1,980 | Markdown | 24.727272 | 139 | 0.717677 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/maps/map.yaml | image: map.pgm
resolution: 0.050000
origin: [-50.000000, -50.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
| 131 | YAML | 15.499998 | 42 | 0.725191 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/include/quadruped_description.h | #ifndef QUADRUPED_DESCRIPTION_H
#define QUADRUPED_DESCRIPTION_H
#include <quadruped_base/quadruped_base.h>
namespace champ
{
namespace URDF
{
void loadFromHeader(champ::QuadrupedBase &base)
{
base.lf.hip.setOrigin(0.29785, 0.055, 0.0, 0.0, 0.0, 0.0);
base.lf.upper_leg.setOrigin(0.0, 0.110945, -0.0, 0.0, 0.0, 0.0);
base.lf.lower_leg.setOrigin(0.025, 0.0, -0.3205, 0.0, 0.0, 0.0);
base.lf.foot.setOrigin(0.0, 0.0, -0.37, 0.0, 0.0, 0.0);
base.rf.hip.setOrigin(0.29785, -0.055, 0.0, 0.0, 0.0, 0.0);
base.rf.upper_leg.setOrigin(0.0, -0.110945, -0.0, 0.0, 0.0, 0.0);
base.rf.lower_leg.setOrigin(0.025, 0.0, -0.3205, 0.0, 0.0, 0.0);
base.rf.foot.setOrigin(0.0, 0.0, -0.37, 0.0, 0.0, 0.0);
base.lh.hip.setOrigin(-0.29785, 0.055, 0.0, 0.0, 0.0, 0.0);
base.lh.upper_leg.setOrigin(0.0, 0.110945, -0.0, 0.0, 0.0, 0.0);
base.lh.lower_leg.setOrigin(0.025, 0.0, -0.3205, 0.0, 0.0, 0.0);
base.lh.foot.setOrigin(0.0, 0.0, -0.37, 0.0, 0.0, 0.0);
base.rh.hip.setOrigin(-0.29785, -0.055, 0.0, 0.0, 0.0, 0.0);
base.rh.upper_leg.setOrigin(0.0, -0.110945, -0.0, 0.0, 0.0, 0.0);
base.rh.lower_leg.setOrigin(0.025, 0.0, -0.3205, 0.0, 0.0, 0.0);
base.rh.foot.setOrigin(0.0, 0.0, -0.37, 0.0, 0.0, 0.0);
}
}
}
#endif | 1,275 | C | 36.529411 | 66 | 0.589804 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/include/hardware_config.h | #ifndef HARDWARE_CONFIG_H
#define HARDWARE_CONFIG_H
#define USE_SIMULATION_ACTUATOR
// #define USE_DYNAMIXEL_ACTUATOR
// #define USE_SERVO_ACTUATOR
// #define USE_BRUSHLESS_ACTUATOR
#define USE_SIMULATION_IMU
// #define USE_BNO0809DOF_IMU
#define USE_ROS
// #define USE_ROS_RF
#ifdef USE_ROS_RF
#define ELE_PIN 16
#define AIL_PIN 21
#define RUD_PIN 17
#define THR_PIN 20
#define AUX1_PIN 22
#define AUX2_PIN 23
#define RF_INV_LX false
#define RF_INV_LY false
#define RF_INV_AZ false
#define RF_INV_ROLL true
#define RF_INV_PITCH false
#define RF_INV_YAW false
#endif
#ifdef USE_DYNAMIXEL_ACTUATOR
#define LFH_SERVO_ID 16
#define LFU_SERVO_ID 17
#define LFL_SERVO_ID 18
#define RFH_SERVO_ID 14
#define RFU_SERVO_ID 7
#define RFL_SERVO_ID 4
#define LHH_SERVO_ID 2
#define LHU_SERVO_ID 11
#define LHL_SERVO_ID 12
#define RHH_SERVO_ID 6
#define RHU_SERVO_ID 5
#define RHL_SERVO_ID 8
#define LFH_INV false
#define LFU_INV false
#define LFL_INV true
#define RFH_INV false
#define RFU_INV true
#define RFL_INV false
#define LHH_INV false
#define LHU_INV false
#define LHL_INV true
#define RHH_INV false
#define RHU_INV true
#define RHL_INV false
#endif
#ifdef USE_SERVO_ACTUATOR
#define LFH_PIN 8
#define LFU_PIN 7
#define LFL_PIN 6
#define RFH_PIN 14
#define RFU_PIN 16
#define RFL_PIN 17
#define LHH_PIN 4
#define LHU_PIN 3
#define LHL_PIN 2
#define RHH_PIN 21
#define RHU_PIN 22
#define RHL_PIN 23
#define LFH_OFFSET 0
#define LFU_OFFSET 0
#define LFL_OFFSET 0
#define RFH_OFFSET 0
#define RFU_OFFSET 0
#define RFL_OFFSET 0
#define LHH_OFFSET 0
#define LHU_OFFSET 0
#define LHL_OFFSET 3
#define RHH_OFFSET 0
#define RHU_OFFSET 0
#define RHL_OFFSET 0
#define LFH_INV false
#define LFU_INV false
#define LFL_INV false
#define RFH_INV false
#define RFU_INV true
#define RFL_INV true
#define LHH_INV true
#define LHU_INV false
#define LHL_INV false
#define RHH_INV true
#define RHU_INV true
#define RHL_INV true
#endif
#endif | 2,231 | C | 18.578947 | 33 | 0.651277 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/include/gait_config.h | #ifndef GAIT_CONFIG_H
#define GAIT_CONFIG_H
#define KNEE_ORIENTATION ">>"
#define PANTOGRAPH_LEG false
#define ODOM_SCALER 1.0
#define MAX_LINEAR_VELOCITY_X 0.5
#define MAX_LINEAR_VELOCITY_Y 0.25
#define MAX_ANGULAR_VELOCITY_Z 1.0
#define COM_X_TRANSLATION 0.0
#define SWING_HEIGHT 0.04
#define STANCE_DEPTH 0.0
#define STANCE_DURATION 0.25
#define NOMINAL_HEIGHT 0.4
#endif | 454 | C | 27.437498 | 37 | 0.634361 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/links/links.yaml | base: body
left_front:
- front_left_hip
- front_left_upper_leg
- front_left_lower_leg
- front_left_ee
right_front:
- front_right_hip
- front_right_upper_leg
- front_right_lower_leg
- front_right_ee
left_hind:
- rear_left_hip
- rear_left_upper_leg
- rear_left_lower_leg
- rear_left_ee
right_hind:
- rear_right_hip
- rear_right_upper_leg
- rear_right_lower_leg
- rear_right_ee | 409 | YAML | 16.083333 | 25 | 0.665037 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/ros_control/ros_control.yaml | "":
joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
joint_group_position_controller:
type: effort_controllers/JointTrajectoryController
joints:
- front_left_hip_x
- front_left_hip_y
- front_left_knee
- front_right_hip_x
- front_right_hip_y
- front_right_knee
- rear_left_hip_x
- rear_left_hip_y
- rear_left_knee
- rear_right_hip_x
- rear_right_hip_y
- rear_right_knee
gains:
front_left_hip_x : {p: 600, i: 0.9, d: 20}
front_left_hip_y : {p: 600, i: 0.9, d: 20}
front_left_knee : {p: 600, i: 0.9, d: 20}
front_right_hip_x : {p: 600, i: 0.9, d: 20}
front_right_hip_y : {p: 600, i: 0.9, d: 20}
front_right_knee : {p: 600, i: 0.9, d: 20}
rear_left_hip_x : {p: 600, i: 0.9, d: 20}
rear_left_hip_y : {p: 600, i: 0.9, d: 20}
rear_left_knee : {p: 600, i: 0.9, d: 20}
rear_right_hip_x : {p: 600, i: 0.9, d: 20}
rear_right_hip_y : {p: 600, i: 0.9, d: 20}
rear_right_knee : {p: 600, i: 0.9, d: 20}
| 1,199 | YAML | 33.285713 | 56 | 0.496247 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/gait/gait.yaml | knee_orientation : ">>"
pantograph_leg : false
odom_scaler: 1.0
max_linear_velocity_x : 1.5
max_linear_velocity_y : 0.25
max_angular_velocity_z : 1.0
com_x_translation : -0.05
swing_height : 0.06
stance_depth : -0.01
stance_duration : 0.4
nominal_height : 0.48 | 260 | YAML | 22.727271 | 28 | 0.711538 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/joints/joints.yaml | left_front:
- front_left_hip_x
- front_left_hip_y
- front_left_knee
- front_left_foot
right_front:
- front_right_hip_x
- front_right_hip_y
- front_right_knee
- front_right_foot
left_hind:
- rear_left_hip_x
- rear_left_hip_y
- rear_left_knee
- rear_left_foot
right_hind:
- rear_right_hip_x
- rear_right_hip_y
- rear_right_knee
- rear_right_foot | 378 | YAML | 15.47826 | 21 | 0.645503 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/move_base/costmap_common_params.yaml | obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]]
transform_tolerance: 0.5
resolution: 0.05
static_map_layer:
map_topic: map
subscribe_to_updates: true
2d_obstacles_layer:
observation_sources: scan
scan: {data_type: LaserScan,
topic: scan,
marking: true,
clearing: true}
3d_obstacles_layer:
observation_sources: depth
depth: {data_type: PointCloud2,
topic: camera/depth/points,
min_obstacle_height: 0.1,
marking: true,
clearing: true}
inflation_layer:
inflation_radius: 2.0 | 594 | YAML | 20.249999 | 75 | 0.666667 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/move_base/base_local_planner_holonomic_params.yaml | DWAPlannerROS:
#http://wiki.ros.org/dwa_local_planner
min_vel_trans: 0.01
max_vel_trans: 1.0
min_vel_x: -0.025
max_vel_x: 1.0
min_vel_y: 0.0
max_vel_y: 0.0
max_vel_rot: 1.0
min_vel_rot: -1.0
acc_lim_trans: 3.0
acc_lim_x: 3.0
acc_lim_y: 0.0
acc_lim_theta: 5
trans_stopped_vel: 0.1
theta_stopped_vel: 0.1
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.34
sim_time: 3.5
sim_granularity: 0.1
vx_samples: 20
vy_samples: 0
vth_samples: 40
path_distance_bias: 34.0
goal_distance_bias: 24.0
occdist_scale: 0.05
forward_point_distance: 0.2
stop_time_buffer: 0.5
scaling_speed: 0.25
max_scaling_factor: 0.2
oscillation_reset_dist: 0.05
use_dwa: true
prune_plan: false
| 734 | YAML | 14.638298 | 40 | 0.643052 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/move_base/move_base_params.yaml | base_global_planner: global_planner/GlobalPlanner
base_local_planner: dwa_local_planner/DWAPlannerROS
shutdown_costmaps: false
controller_frequency: 5.0
controller_patience: 3.0
planner_frequency: 0.5
planner_patience: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
conservative_reset_dist: 0.1 | 308 | YAML | 19.599999 | 51 | 0.808442 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/move_base/global_costmap_params.yaml | global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
cost_scaling_factor: 10.0
plugins:
- {name: static_map_layer, type: "costmap_2d::StaticLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}
| 453 | YAML | 31.428569 | 69 | 0.673289 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/move_base/local_costmap_params.yaml | local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 2.5
height: 2.5
cost_scaling_factor: 5
plugins:
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}
| 435 | YAML | 24.647057 | 69 | 0.675862 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/README.md |
## 1. Quick Start
You don't need a physical robot to run the following demos.
### 1.1. Walking demo in RVIZ:
#### 1.1.1. Run the base driver:
roslaunch stochlite_config bringup.launch rviz:=true
#### 1.1.2. Run the teleop node:
roslaunch champ_teleop teleop.launch
If you want to use a [joystick](https://www.logitechg.com/en-hk/products/gamepads/f710-wireless-gamepad.html) add joy:=true as an argument.
### 1.2. SLAM demo:
#### 1.2.1. Run the Gazebo environment:
roslaunch stochlite_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch stochlite_config slam.launch rviz:=true
To start mapping:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
- Save the map by running:
roscd stochlite_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch stochlite_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch stochlite_config navigate.launch rviz:=true
To navigate:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
#### 1.4.1 Spawning multiple robots in Gazebo
Run Gazebo and default simulation world:
roslaunch champ_gazebo spawn_world.launch
You can also load your own world file by passing your world's path to 'gazebo_world' argument:
roslaunch champ_gazebo spawn_world.launch gazebo_world:=<path_to_world_file>
Spawning a robot:
roslaunch stochlite_config spawn_robot.launch robot_name:=<unique_robot_name> world_init_x:=<x_position> world_init_y:=<y_position>
* Every instance of the spawned robot must have a unique robot name to prevent the topics and transforms from clashing.
---
:exclamation: *This is not an official product from the robot's company/author.* | 2,015 | Markdown | 25.181818 | 139 | 0.722581 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/maps/map.yaml | image: map.pgm
resolution: 0.050000
origin: [-50.000000, -50.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
| 131 | YAML | 15.499998 | 42 | 0.725191 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/include/quadruped_description.h | #ifndef QUADRUPED_DESCRIPTION_H
#define QUADRUPED_DESCRIPTION_H
#include <quadruped_base/quadruped_base.h>
namespace champ
{
namespace URDF
{
void loadFromHeader(champ::QuadrupedBase &base)
{
base.lf.hip.setOrigin(0.16695, 0.0956, -0.0050001, 0.0, 0.0, 0.0);
base.lf.upper_leg.setOrigin(0.0, 0.052019, -0.0, 0.0, 0.0, 0.0);
base.lf.lower_leg.setOrigin(0.0, 0.023481, -0.146, 0.0, 0.0, 0.0);
base.lf.foot.setOrigin(0.0, 0.023481, -0.169, 0.0, 0.0, 0.0);
base.rf.hip.setOrigin(0.16695, -0.0964, -0.0049999, 0.0, 0.0, 0.0);
base.rf.upper_leg.setOrigin(0.0, -0.052019, -0.0, 0.0, 0.0, 0.0);
base.rf.lower_leg.setOrigin(0.0, -0.023481, -0.146, 0.0, 0.0, 0.0);
base.rf.foot.setOrigin(0.0, -0.023481, -0.169, 0.0, 0.0, 0.0);
base.lh.hip.setOrigin(-0.16695, 0.0956, -0.0049999, 0.0, 0.0, 0.0);
base.lh.upper_leg.setOrigin(0.0, 0.052019, -0.0, 0.0, 0.0, 0.0);
base.lh.lower_leg.setOrigin(0.0, 0.023481, -0.146, 0.0, 0.0, 0.0);
base.lh.foot.setOrigin(0.0, 0.023481, -0.169, 0.0, 0.0, 0.0);
base.rh.hip.setOrigin(-0.16695, -0.0964, -0.0050001, 0.0, 0.0, 0.0);
base.rh.upper_leg.setOrigin(0.0, -0.052019, -0.0, 0.0, 0.0, 0.0);
base.rh.lower_leg.setOrigin(0.0, -0.023481, -0.146, 0.0, 0.0, 0.0);
base.rh.foot.setOrigin(0.0, -0.023481, -0.169, 0.0, 0.0, 0.0);
}
}
}
#endif | 1,343 | C | 38.529411 | 74 | 0.604617 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/include/hardware_config.h | #ifndef HARDWARE_CONFIG_H
#define HARDWARE_CONFIG_H
#define USE_SIMULATION_ACTUATOR
// #define USE_DYNAMIXEL_ACTUATOR
// #define USE_SERVO_ACTUATOR
// #define USE_BRUSHLESS_ACTUATOR
#define USE_SIMULATION_IMU
// #define USE_BNO0809DOF_IMU
#define USE_ROS
// #define USE_ROS_RF
#ifdef USE_ROS_RF
#define ELE_PIN 16
#define AIL_PIN 21
#define RUD_PIN 17
#define THR_PIN 20
#define AUX1_PIN 22
#define AUX2_PIN 23
#define RF_INV_LX false
#define RF_INV_LY false
#define RF_INV_AZ false
#define RF_INV_ROLL true
#define RF_INV_PITCH false
#define RF_INV_YAW false
#endif
#ifdef USE_DYNAMIXEL_ACTUATOR
#define LFH_SERVO_ID 16
#define LFU_SERVO_ID 17
#define LFL_SERVO_ID 18
#define RFH_SERVO_ID 14
#define RFU_SERVO_ID 7
#define RFL_SERVO_ID 4
#define LHH_SERVO_ID 2
#define LHU_SERVO_ID 11
#define LHL_SERVO_ID 12
#define RHH_SERVO_ID 6
#define RHU_SERVO_ID 5
#define RHL_SERVO_ID 8
#define LFH_INV false
#define LFU_INV false
#define LFL_INV true
#define RFH_INV false
#define RFU_INV true
#define RFL_INV false
#define LHH_INV false
#define LHU_INV false
#define LHL_INV true
#define RHH_INV false
#define RHU_INV true
#define RHL_INV false
#endif
#ifdef USE_SERVO_ACTUATOR
#define LFH_PIN 8
#define LFU_PIN 7
#define LFL_PIN 6
#define RFH_PIN 14
#define RFU_PIN 16
#define RFL_PIN 17
#define LHH_PIN 4
#define LHU_PIN 3
#define LHL_PIN 2
#define RHH_PIN 21
#define RHU_PIN 22
#define RHL_PIN 23
#define LFH_OFFSET 0
#define LFU_OFFSET 0
#define LFL_OFFSET 0
#define RFH_OFFSET 0
#define RFU_OFFSET 0
#define RFL_OFFSET 0
#define LHH_OFFSET 0
#define LHU_OFFSET 0
#define LHL_OFFSET 3
#define RHH_OFFSET 0
#define RHU_OFFSET 0
#define RHL_OFFSET 0
#define LFH_INV false
#define LFU_INV false
#define LFL_INV false
#define RFH_INV false
#define RFU_INV true
#define RFL_INV true
#define LHH_INV true
#define LHU_INV false
#define LHL_INV false
#define RHH_INV true
#define RHU_INV true
#define RHL_INV true
#endif
#endif | 2,231 | C | 18.578947 | 33 | 0.651277 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/include/gait_config.h | #ifndef GAIT_CONFIG_H
#define GAIT_CONFIG_H
#define KNEE_ORIENTATION "><"
#define PANTOGRAPH_LEG false
#define ODOM_SCALER 1.0
#define MAX_LINEAR_VELOCITY_X 0.4
#define MAX_LINEAR_VELOCITY_Y 0.25
#define MAX_ANGULAR_VELOCITY_Z 1.0
#define COM_X_TRANSLATION 0.0
#define SWING_HEIGHT 0.04
#define STANCE_DEPTH 0.0
#define STANCE_DURATION 0.25
#define NOMINAL_HEIGHT 0.23
#endif | 455 | C | 27.499998 | 37 | 0.635165 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/config/links/links.yaml | base: base_link
left_front:
- fl_abd_link
- fl_thigh_link
- fl_shank_link
- fl_toe_link
right_front:
- fr_abd_link
- fr_thigh_link
- fr_shank_link
- fr_toe_link
left_hind:
- bl_abd_link
- bl_thigh_link
- bl_shank_link
- bl_toe_link
right_hind:
- br_abd_link
- br_thigh_link
- br_shank_link
- br_toe_link | 338 | YAML | 13.124999 | 17 | 0.615385 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/config/ros_control/ros_control.yaml | "":
joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
joint_group_position_controller:
type: effort_controllers/JointTrajectoryController
joints:
- fl_abd_joint
- fl_hip_joint
- fl_knee_joint
- fr_abd_joint
- fr_hip_joint
- fr_knee_joint
- bl_abd_joint
- bl_hip_joint
- bl_knee_joint
- br_abd_joint
- br_hip_joint
- br_knee_joint
# constraints:
# goal_time: 0.01
# stopped_velocity_tolerance: 0.01
# stop_trajectory_duration: 0.01
gains:
fl_abd_joint : {p: 100, d: 6, i: 0.2}
fl_hip_joint : {p: 100, d: 6, i: 0.2}
fl_knee_joint : {p: 100, d: 6, i: 0.2}
fr_abd_joint : {p: 100, d: 6, i: 0.2}
fr_hip_joint : {p: 100, d: 6, i: 0.2}
fr_knee_joint : {p: 100, d: 6, i: 0.2}
bl_abd_joint : {p: 100, d: 6, i: 0.2}
bl_hip_joint : {p: 100, d: 6, i: 0.2}
bl_knee_joint : {p: 100, d: 6, i: 0.2}
br_abd_joint : {p: 100, d: 6, i: 0.2}
br_hip_joint : {p: 100, d: 6, i: 0.2}
br_knee_joint : {p: 100, d: 6, i: 0.2}
| 1,236 | YAML | 29.170731 | 56 | 0.479773 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/config/gait/gait.yaml | knee_orientation : "><"
pantograph_leg : false
odom_scaler: 1.0
max_linear_velocity_x : 0.4
max_linear_velocity_y : 0.25
max_angular_velocity_z : 1.0
com_x_translation : 0.0
swing_height : 0.04
stance_depth : 0.0
stance_duration : 0.25
nominal_height : 0.23 | 257 | YAML | 22.454543 | 28 | 0.715953 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/config/joints/joints.yaml | left_front:
- fl_abd_joint
- fl_hip_joint
- fl_knee_joint
- fl_toe_joint
right_front:
- fr_abd_joint
- fr_hip_joint
- fr_knee_joint
- fr_toe_joint
left_hind:
- bl_abd_joint
- bl_hip_joint
- bl_knee_joint
- bl_toe_joint
right_hind:
- br_abd_joint
- br_hip_joint
- br_knee_joint
- br_toe_joint | 326 | YAML | 13.217391 | 17 | 0.613497 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/config/move_base/costmap_common_params.yaml | obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]]
transform_tolerance: 0.5
resolution: 0.05
static_map_layer:
map_topic: map
subscribe_to_updates: true
2d_obstacles_layer:
observation_sources: scan
scan: {data_type: LaserScan,
topic: scan,
marking: true,
clearing: true}
3d_obstacles_layer:
observation_sources: depth
depth: {data_type: PointCloud2,
topic: camera/depth/points,
min_obstacle_height: 0.1,
marking: true,
clearing: true}
inflation_layer:
inflation_radius: 2.0 | 594 | YAML | 20.249999 | 75 | 0.666667 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/config/move_base/base_local_planner_holonomic_params.yaml | DWAPlannerROS:
#http://wiki.ros.org/dwa_local_planner
min_vel_trans: 0.01
max_vel_trans: 0.5
min_vel_x: -0.025
max_vel_x: 0.5
min_vel_y: 0.0
max_vel_y: 0.0
max_vel_rot: 1.0
min_vel_rot: -1.0
acc_lim_trans: 1.7
acc_lim_x: 1.7
acc_lim_y: 0.0
acc_lim_theta: 3
trans_stopped_vel: 0.1
theta_stopped_vel: 0.1
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.34
sim_time: 3.5
sim_granularity: 0.1
vx_samples: 20
vy_samples: 0
vth_samples: 40
path_distance_bias: 34.0
goal_distance_bias: 24.0
occdist_scale: 0.05
forward_point_distance: 0.2
stop_time_buffer: 0.5
scaling_speed: 0.25
max_scaling_factor: 0.2
oscillation_reset_dist: 0.05
use_dwa: true
prune_plan: false
| 734 | YAML | 14.638298 | 40 | 0.643052 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/config/move_base/move_base_params.yaml | base_global_planner: global_planner/GlobalPlanner
base_local_planner: dwa_local_planner/DWAPlannerROS
shutdown_costmaps: false
controller_frequency: 5.0
controller_patience: 3.0
planner_frequency: 0.5
planner_patience: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
conservative_reset_dist: 0.1 | 308 | YAML | 19.599999 | 51 | 0.808442 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/config/move_base/global_costmap_params.yaml | global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
cost_scaling_factor: 10.0
plugins:
- {name: static_map_layer, type: "costmap_2d::StaticLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}
| 453 | YAML | 31.428569 | 69 | 0.673289 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/config/move_base/local_costmap_params.yaml | local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 2.5
height: 2.5
cost_scaling_factor: 5
plugins:
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}
| 435 | YAML | 24.647057 | 69 | 0.675862 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dream_walker_config/README.md |
## 1. Quick Start
You don't need a physical robot to run the following demos.
### 1.1. Walking demo in RVIZ:
#### 1.1.1. Run the base driver:
roslaunch dream_walker_config bringup.launch rviz:=true
#### 1.1.2. Run the teleop node:
roslaunch champ_teleop teleop.launch
If you want to use a [joystick](https://www.logitechg.com/en-hk/products/gamepads/f710-wireless-gamepad.html) add joy:=true as an argument.
### 1.2. SLAM demo:
#### 1.2.1. Run the Gazebo environment:
roslaunch dream_walker_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch dream_walker_config slam.launch rviz:=true
To start mapping:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
- Save the map by running:
roscd dream_walker_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch dream_walker_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch dream_walker_config navigate.launch rviz:=true
To navigate:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
#### 1.4.1 Spawning multiple robots in Gazebo
Run Gazebo and default simulation world:
roslaunch champ_gazebo spawn_world.launch
You can also load your own world file by passing your world's path to 'gazebo_world' argument:
roslaunch champ_gazebo spawn_world.launch gazebo_world:=<path_to_world_file>
Spawning a robot:
roslaunch dream_walker_config spawn_robot.launch robot_name:=<unique_robot_name> world_init_x:=<x_position> world_init_y:=<y_position>
* Every instance of the spawned robot must have a unique robot name to prevent the topics and transforms from clashing.
---
:exclamation: *This is not an official product from the robot's company/author.* | 2,036 | Markdown | 25.454545 | 139 | 0.722004 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dream_walker_config/maps/map.yaml | image: map.pgm
resolution: 0.050000
origin: [-50.000000, -50.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
| 131 | YAML | 15.499998 | 42 | 0.725191 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dream_walker_config/include/quadruped_description.h | #ifndef QUADRUPED_DESCRIPTION_H
#define QUADRUPED_DESCRIPTION_H
#include <quadruped_base/quadruped_base.h>
namespace champ
{
namespace URDF
{
void loadFromHeader(champ::QuadrupedBase &base)
{
base.lf.hip.setOrigin(0.4585, 0.083, 0.0, 0.0, 0.0, 0.0);
base.lf.upper_leg.setOrigin(0.0, 0.203, -0.0, 0.0, 0.0, 0.0);
base.lf.lower_leg.setOrigin(0.0, 0.075, -0.32, 0.0, 0.0, 0.0);
base.lf.foot.setOrigin(0.0, 0.0, -0.44, 0.0, 0.0, 0.0);
base.rf.hip.setOrigin(0.4585, -0.083, 0.0, 0.0, 0.0, 0.0);
base.rf.upper_leg.setOrigin(0.0, -0.203, -0.0, 0.0, 0.0, 0.0);
base.rf.lower_leg.setOrigin(0.0, -0.075, -0.32, 0.0, 0.0, 0.0);
base.rf.foot.setOrigin(0.0, 0.0, -0.44, 0.0, 0.0, 0.0);
base.lh.hip.setOrigin(-0.4585, 0.083, 0.0, 0.0, 0.0, 0.0);
base.lh.upper_leg.setOrigin(0.0, 0.203, -0.0, 0.0, 0.0, 0.0);
base.lh.lower_leg.setOrigin(0.0, 0.075, -0.32, 0.0, 0.0, 0.0);
base.lh.foot.setOrigin(0.0, 0.0, -0.44, 0.0, 0.0, 0.0);
base.rh.hip.setOrigin(-0.4585, -0.083, 0.0, 0.0, 0.0, 0.0);
base.rh.upper_leg.setOrigin(0.0, -0.203, -0.0, 0.0, 0.0, 0.0);
base.rh.lower_leg.setOrigin(0.0, -0.075, -0.32, 0.0, 0.0, 0.0);
base.rh.foot.setOrigin(0.0, 0.0, -0.44, 0.0, 0.0, 0.0);
}
}
}
#endif | 1,253 | C | 35.882352 | 65 | 0.581006 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dream_walker_config/include/hardware_config.h | #ifndef HARDWARE_CONFIG_H
#define HARDWARE_CONFIG_H
#define USE_SIMULATION_ACTUATOR
// #define USE_DYNAMIXEL_ACTUATOR
// #define USE_SERVO_ACTUATOR
// #define USE_BRUSHLESS_ACTUATOR
#define USE_SIMULATION_IMU
// #define USE_BNO0809DOF_IMU
#define USE_ROS
// #define USE_ROS_RF
#ifdef USE_ROS_RF
#define ELE_PIN 16
#define AIL_PIN 21
#define RUD_PIN 17
#define THR_PIN 20
#define AUX1_PIN 22
#define AUX2_PIN 23
#define RF_INV_LX false
#define RF_INV_LY false
#define RF_INV_AZ false
#define RF_INV_ROLL true
#define RF_INV_PITCH false
#define RF_INV_YAW false
#endif
#ifdef USE_DYNAMIXEL_ACTUATOR
#define LFH_SERVO_ID 16
#define LFU_SERVO_ID 17
#define LFL_SERVO_ID 18
#define RFH_SERVO_ID 14
#define RFU_SERVO_ID 7
#define RFL_SERVO_ID 4
#define LHH_SERVO_ID 2
#define LHU_SERVO_ID 11
#define LHL_SERVO_ID 12
#define RHH_SERVO_ID 6
#define RHU_SERVO_ID 5
#define RHL_SERVO_ID 8
#define LFH_INV false
#define LFU_INV false
#define LFL_INV true
#define RFH_INV false
#define RFU_INV true
#define RFL_INV false
#define LHH_INV false
#define LHU_INV false
#define LHL_INV true
#define RHH_INV false
#define RHU_INV true
#define RHL_INV false
#endif
#ifdef USE_SERVO_ACTUATOR
#define LFH_PIN 8
#define LFU_PIN 7
#define LFL_PIN 6
#define RFH_PIN 14
#define RFU_PIN 16
#define RFL_PIN 17
#define LHH_PIN 4
#define LHU_PIN 3
#define LHL_PIN 2
#define RHH_PIN 21
#define RHU_PIN 22
#define RHL_PIN 23
#define LFH_OFFSET 0
#define LFU_OFFSET 0
#define LFL_OFFSET 0
#define RFH_OFFSET 0
#define RFU_OFFSET 0
#define RFL_OFFSET 0
#define LHH_OFFSET 0
#define LHU_OFFSET 0
#define LHL_OFFSET 3
#define RHH_OFFSET 0
#define RHU_OFFSET 0
#define RHL_OFFSET 0
#define LFH_INV false
#define LFU_INV false
#define LFL_INV false
#define RFH_INV false
#define RFU_INV true
#define RFL_INV true
#define LHH_INV true
#define LHU_INV false
#define LHL_INV false
#define RHH_INV true
#define RHU_INV true
#define RHL_INV true
#endif
#endif | 2,231 | C | 18.578947 | 33 | 0.651277 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dream_walker_config/include/gait_config.h | #ifndef GAIT_CONFIG_H
#define GAIT_CONFIG_H
#define KNEE_ORIENTATION ">>"
#define PANTOGRAPH_LEG false
#define ODOM_SCALER 1.0
#define MAX_LINEAR_VELOCITY_X 0.5
#define MAX_LINEAR_VELOCITY_Y 0.25
#define MAX_ANGULAR_VELOCITY_Z 1.0
#define COM_X_TRANSLATION 0.0
#define SWING_HEIGHT 0.1
#define STANCE_DEPTH 0.0
#define STANCE_DURATION 0.25
#define NOMINAL_HEIGHT 0.5
#endif | 453 | C | 27.374998 | 37 | 0.633554 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dream_walker_config/config/links/links.yaml | base: base_link
left_front:
- B1_Link
- B2_Link
- B3_Link
- B4_Link
right_front:
- A1_Link
- A2_Link
- A3_Link
- A4_Link
left_hind:
- D1_Link
- D2_Link
- D3_Link
- D4_Link
right_hind:
- C1_Link
- C2_Link
- C3_Link
- C4_Link | 258 | YAML | 9.791666 | 15 | 0.55814 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dream_walker_config/config/ros_control/ros_control.yaml | "":
joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
joint_group_position_controller:
type: effort_controllers/JointTrajectoryController
joints:
- B1_joint
- B2_joint
- B3_joint
- A1_joint
- A2_joint
- A3_joint
- D1_joint
- D2_joint
- D3_joint
- C1_joint
- C2_joint
- C3_joint
gains:
B1_joint : {p: 180, d: 0.9, i: 20}
B2_joint : {p: 180, d: 0.9, i: 20}
B3_joint : {p: 180, d: 0.9, i: 20}
A1_joint : {p: 180, d: 0.9, i: 20}
A2_joint : {p: 180, d: 0.9, i: 20}
A3_joint : {p: 180, d: 0.9, i: 20}
D1_joint : {p: 180, d: 0.9, i: 20}
D2_joint : {p: 180, d: 0.9, i: 20}
D3_joint : {p: 180, d: 0.9, i: 20}
C1_joint : {p: 180, d: 0.9, i: 20}
C2_joint : {p: 180, d: 0.9, i: 20}
C3_joint : {p: 180, d: 0.9, i: 20}
| 999 | YAML | 27.571428 | 56 | 0.451451 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dream_walker_config/config/gait/gait.yaml | knee_orientation : ">>"
pantograph_leg : false
odom_scaler: 1.0
max_linear_velocity_x : 0.5
max_linear_velocity_y : 0.25
max_angular_velocity_z : 1.0
com_x_translation : 0.0
swing_height : 0.1
stance_depth : 0.0
stance_duration : 0.25
nominal_height : 0.5 | 255 | YAML | 22.272725 | 28 | 0.713725 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dream_walker_config/config/joints/joints.yaml | left_front:
- B1_joint
- B2_joint
- B3_joint
- B4_joint
right_front:
- A1_joint
- A2_joint
- A3_joint
- A4_joint
left_hind:
- D1_joint
- D2_joint
- D3_joint
- D4_joint
right_hind:
- C1_joint
- C2_joint
- C3_joint
- C4_joint | 258 | YAML | 10.260869 | 12 | 0.573643 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dream_walker_config/config/move_base/costmap_common_params.yaml | obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]]
transform_tolerance: 0.5
resolution: 0.05
static_map_layer:
map_topic: map
subscribe_to_updates: true
2d_obstacles_layer:
observation_sources: scan
scan: {data_type: LaserScan,
topic: scan,
marking: true,
clearing: true}
3d_obstacles_layer:
observation_sources: depth
depth: {data_type: PointCloud2,
topic: camera/depth/points,
min_obstacle_height: 0.1,
marking: true,
clearing: true}
inflation_layer:
inflation_radius: 2.0 | 594 | YAML | 20.249999 | 75 | 0.666667 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dream_walker_config/config/move_base/base_local_planner_holonomic_params.yaml | DWAPlannerROS:
#http://wiki.ros.org/dwa_local_planner
min_vel_trans: 0.01
max_vel_trans: 0.5
min_vel_x: -0.025
max_vel_x: 0.5
min_vel_y: 0.0
max_vel_y: 0.0
max_vel_rot: 1.0
min_vel_rot: -1.0
acc_lim_trans: 1.7
acc_lim_x: 1.7
acc_lim_y: 0.0
acc_lim_theta: 3
trans_stopped_vel: 0.1
theta_stopped_vel: 0.1
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.34
sim_time: 3.5
sim_granularity: 0.1
vx_samples: 20
vy_samples: 0
vth_samples: 40
path_distance_bias: 34.0
goal_distance_bias: 24.0
occdist_scale: 0.05
forward_point_distance: 0.2
stop_time_buffer: 0.5
scaling_speed: 0.25
max_scaling_factor: 0.2
oscillation_reset_dist: 0.05
use_dwa: true
prune_plan: false
| 734 | YAML | 14.638298 | 40 | 0.643052 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dream_walker_config/config/move_base/move_base_params.yaml | base_global_planner: global_planner/GlobalPlanner
base_local_planner: dwa_local_planner/DWAPlannerROS
shutdown_costmaps: false
controller_frequency: 5.0
controller_patience: 3.0
planner_frequency: 0.5
planner_patience: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
conservative_reset_dist: 0.1 | 308 | YAML | 19.599999 | 51 | 0.808442 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dream_walker_config/config/move_base/global_costmap_params.yaml | global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
cost_scaling_factor: 10.0
plugins:
- {name: static_map_layer, type: "costmap_2d::StaticLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}
| 453 | YAML | 31.428569 | 69 | 0.673289 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dream_walker_config/config/move_base/local_costmap_params.yaml | local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 2.5
height: 2.5
cost_scaling_factor: 5
plugins:
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}
| 435 | YAML | 24.647057 | 69 | 0.675862 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_cheetah_config/README.md |
## 1. Quick Start
You don't need a physical robot to run the following demos.
### 1.1. Walking demo in RVIZ:
#### 1.1.1. Run the base driver:
roslaunch mini_cheetah_config bringup.launch rviz:=true
#### 1.1.2. Run the teleop node:
roslaunch champ_teleop teleop.launch
If you want to use a [joystick](https://www.logitechg.com/en-hk/products/gamepads/f710-wireless-gamepad.html) add joy:=true as an argument.
### 1.2. SLAM demo:
#### 1.2.1. Run the Gazebo environment:
roslaunch mini_cheetah_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch mini_cheetah_config slam.launch rviz:=true
To start mapping:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
- Save the map by running:
roscd mini_cheetah_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch mini_cheetah_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch mini_cheetah_config navigate.launch rviz:=true
To navigate:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
#### 1.4.1 Spawning multiple robots in Gazebo
Run Gazebo and default simulation world:
roslaunch champ_gazebo spawn_world.launch
You can also load your own world file by passing your world's path to 'gazebo_world' argument:
roslaunch champ_gazebo spawn_world.launch gazebo_world:=<path_to_world_file>
Spawning a robot:
roslaunch mini_cheetah_config spawn_robot.launch robot_name:=<unique_robot_name> world_init_x:=<x_position> world_init_y:=<y_position>
* Every instance of the spawned robot must have a unique robot name to prevent the topics and transforms from clashing.
---
:exclamation: *This is not an official product from the robot's company/author.* | 2,036 | Markdown | 25.454545 | 139 | 0.722004 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_cheetah_config/maps/map.yaml | image: map.pgm
resolution: 0.050000
origin: [-50.000000, -50.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
| 131 | YAML | 15.499998 | 42 | 0.725191 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_cheetah_config/include/quadruped_description.h | #ifndef QUADRUPED_DESCRIPTION_H
#define QUADRUPED_DESCRIPTION_H
#include <quadruped_base/quadruped_base.h>
namespace champ
{
namespace URDF
{
void loadFromHeader(champ::QuadrupedBase &base)
{
base.lf.hip.setOrigin(0.19, 0.049, 0.0, 0.0, 0.0, 0.0);
base.lf.upper_leg.setOrigin(0.0, 0.062, -0.0, 0.0, 0.0, 0.0);
base.lf.lower_leg.setOrigin(0.0, 0.0, -0.209, 0.0, 0.0, 0.0);
base.lf.foot.setOrigin(0.0, 0.0, -0.18, 0, 0, 0);
base.rf.hip.setOrigin(0.19, -0.049, 0.0, 0.0, 0.0, 0.0);
base.rf.upper_leg.setOrigin(0.0, -0.062, -0.0, 0.0, 0.0, 0.0);
base.rf.lower_leg.setOrigin(0.0, 0.0, -0.209, 0.0, 0.0, 0.0);
base.rf.foot.setOrigin(0.0, 0.0, -0.18, 0, 0, 0);
base.lh.hip.setOrigin(-0.19, 0.049, 0.0, 0.0, 0.0, 0.0);
base.lh.upper_leg.setOrigin(0.0, 0.062, -0.0, 0.0, 0.0, 0.0);
base.lh.lower_leg.setOrigin(0.0, 0.0, -0.209, 0.0, 0.0, 0.0);
base.lh.foot.setOrigin(0.0, 0.0, -0.18, 0, 0, 0);
base.rh.hip.setOrigin(-0.19, -0.049, 0.0, 0.0, 0.0, 0.0);
base.rh.upper_leg.setOrigin(0.0, -0.062, -0.0, 0.0, 0.0, 0.0);
base.rh.lower_leg.setOrigin(0.0, 0.0, -0.209, 0.0, 0.0, 0.0);
base.rh.foot.setOrigin(0.0, 0.0, -0.18, 0, 0, 0);
}
}
}
#endif | 1,215 | C | 34.764705 | 63 | 0.579424 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_cheetah_config/include/hardware_config.h | #ifndef HARDWARE_CONFIG_H
#define HARDWARE_CONFIG_H
#define USE_SIMULATION_ACTUATOR
// #define USE_DYNAMIXEL_ACTUATOR
// #define USE_SERVO_ACTUATOR
// #define USE_BRUSHLESS_ACTUATOR
#define USE_SIMULATION_IMU
// #define USE_BNO0809DOF_IMU
#define USE_ROS
// #define USE_ROS_RF
#ifdef USE_ROS_RF
#define ELE_PIN 16
#define AIL_PIN 21
#define RUD_PIN 17
#define THR_PIN 20
#define AUX1_PIN 22
#define AUX2_PIN 23
#define RF_INV_LX false
#define RF_INV_LY false
#define RF_INV_AZ false
#define RF_INV_ROLL true
#define RF_INV_PITCH false
#define RF_INV_YAW false
#endif
#ifdef USE_DYNAMIXEL_ACTUATOR
#define LFH_SERVO_ID 16
#define LFU_SERVO_ID 17
#define LFL_SERVO_ID 18
#define RFH_SERVO_ID 14
#define RFU_SERVO_ID 7
#define RFL_SERVO_ID 4
#define LHH_SERVO_ID 2
#define LHU_SERVO_ID 11
#define LHL_SERVO_ID 12
#define RHH_SERVO_ID 6
#define RHU_SERVO_ID 5
#define RHL_SERVO_ID 8
#define LFH_INV false
#define LFU_INV false
#define LFL_INV true
#define RFH_INV false
#define RFU_INV true
#define RFL_INV false
#define LHH_INV false
#define LHU_INV false
#define LHL_INV true
#define RHH_INV false
#define RHU_INV true
#define RHL_INV false
#endif
#ifdef USE_SERVO_ACTUATOR
#define LFH_PIN 8
#define LFU_PIN 7
#define LFL_PIN 6
#define RFH_PIN 14
#define RFU_PIN 16
#define RFL_PIN 17
#define LHH_PIN 4
#define LHU_PIN 3
#define LHL_PIN 2
#define RHH_PIN 21
#define RHU_PIN 22
#define RHL_PIN 23
#define LFH_OFFSET 0
#define LFU_OFFSET 0
#define LFL_OFFSET 0
#define RFH_OFFSET 0
#define RFU_OFFSET 0
#define RFL_OFFSET 0
#define LHH_OFFSET 0
#define LHU_OFFSET 0
#define LHL_OFFSET 3
#define RHH_OFFSET 0
#define RHU_OFFSET 0
#define RHL_OFFSET 0
#define LFH_INV false
#define LFU_INV false
#define LFL_INV false
#define RFH_INV false
#define RFU_INV true
#define RFL_INV true
#define LHH_INV true
#define LHU_INV false
#define LHL_INV false
#define RHH_INV true
#define RHU_INV true
#define RHL_INV true
#endif
#endif | 2,231 | C | 18.578947 | 33 | 0.651277 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_cheetah_config/include/gait_config.h | #ifndef GAIT_CONFIG_H
#define GAIT_CONFIG_H
#define KNEE_ORIENTATION ">>"
#define PANTOGRAPH_LEG false
#define ODOM_SCALER 1.0
#define MAX_LINEAR_VELOCITY_X 0.5
#define MAX_LINEAR_VELOCITY_Y 0.25
#define MAX_ANGULAR_VELOCITY_Z 1.0
#define COM_X_TRANSLATION -0.03
#define SWING_HEIGHT 0.04
#define STANCE_DEPTH 0.0
#define STANCE_DURATION 0.25
#define NOMINAL_HEIGHT 0.25
#endif | 457 | C | 27.624998 | 37 | 0.634573 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_cheetah_config/config/links/links.yaml | base: trunk
left_front:
- FL_hip
- FL_thigh
- FL_calf
- FL_foot
right_front:
- FR_hip
- FR_thigh
- FR_calf
- FR_foot
left_hind:
- RL_hip
- RL_thigh
- RL_calf
- RL_foot
right_hind:
- RR_hip
- RR_thigh
- RR_calf
- RR_foot | 254 | YAML | 9.625 | 12 | 0.555118 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_cheetah_config/config/ros_control/ros_control.yaml | "":
joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
joint_group_position_controller:
type: effort_controllers/JointTrajectoryController
joints:
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
gains:
FL_hip_joint : {p: 180, d: 6, i: 20}
FL_thigh_joint : {p: 180, d: 6, i: 20}
FL_calf_joint : {p: 180, d: 6, i: 20}
FR_hip_joint : {p: 180, d: 6, i: 20}
FR_thigh_joint : {p: 180, d: 6, i: 20}
FR_calf_joint : {p: 180, d: 6, i: 20}
RL_hip_joint : {p: 180, d: 6, i: 20}
RL_thigh_joint : {p: 180, d: 6, i: 20}
RL_calf_joint : {p: 180, d: 6, i: 20}
RR_hip_joint : {p: 180, d: 6, i: 20}
RR_thigh_joint : {p: 180, d: 6, i: 20}
RR_calf_joint : {p: 180, d: 6, i: 20}
| 1,095 | YAML | 30.314285 | 56 | 0.488584 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_cheetah_config/config/gait/gait.yaml | knee_orientation : ">>"
pantograph_leg : false
odom_scaler: 0.9
max_linear_velocity_x : 0.5
max_linear_velocity_y : 0.25
max_angular_velocity_z : 1.0
com_x_translation : 0.0
swing_height : 0.05
stance_depth : 0.0
stance_duration : 0.3
nominal_height : 0.3 | 255 | YAML | 22.272725 | 28 | 0.713725 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_cheetah_config/config/joints/joints.yaml | left_front:
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- FL_foot_fixed
right_front:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FR_foot_fixed
left_hind:
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
- RL_foot_fixed
right_hind:
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RR_foot_fixed | 338 | YAML | 13.73913 | 18 | 0.627219 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_cheetah_config/config/move_base/costmap_common_params.yaml | obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]]
transform_tolerance: 0.5
resolution: 0.05
static_map_layer:
map_topic: map
subscribe_to_updates: true
2d_obstacles_layer:
observation_sources: scan
scan: {data_type: LaserScan,
topic: scan,
marking: true,
clearing: true}
3d_obstacles_layer:
observation_sources: depth
depth: {data_type: PointCloud2,
topic: camera/depth/points,
min_obstacle_height: 0.1,
marking: true,
clearing: true}
inflation_layer:
inflation_radius: 2.0 | 594 | YAML | 20.249999 | 75 | 0.666667 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_cheetah_config/config/move_base/base_local_planner_holonomic_params.yaml | DWAPlannerROS:
#http://wiki.ros.org/dwa_local_planner
min_vel_trans: 0.01
max_vel_trans: 0.5
min_vel_x: -0.025
max_vel_x: 0.5
min_vel_y: 0.0
max_vel_y: 0.0
max_vel_rot: 1.0
min_vel_rot: -1.0
acc_lim_trans: 3.0
acc_lim_x: 3.0
acc_lim_y: 0.0
acc_lim_theta: 5.0
trans_stopped_vel: 0.1
theta_stopped_vel: 0.1
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.34
sim_time: 3.5
sim_granularity: 0.1
vx_samples: 20
vy_samples: 0
vth_samples: 40
path_distance_bias: 34.0
goal_distance_bias: 24.0
occdist_scale: 0.05
forward_point_distance: 0.2
stop_time_buffer: 0.5
scaling_speed: 0.25
max_scaling_factor: 0.2
oscillation_reset_dist: 0.05
use_dwa: true
prune_plan: false
| 736 | YAML | 14.680851 | 40 | 0.642663 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_cheetah_config/config/move_base/move_base_params.yaml | base_global_planner: global_planner/GlobalPlanner
base_local_planner: dwa_local_planner/DWAPlannerROS
shutdown_costmaps: false
controller_frequency: 5.0
controller_patience: 3.0
planner_frequency: 0.5
planner_patience: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
conservative_reset_dist: 0.1 | 308 | YAML | 19.599999 | 51 | 0.808442 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_cheetah_config/config/move_base/global_costmap_params.yaml | global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
cost_scaling_factor: 10.0
plugins:
- {name: static_map_layer, type: "costmap_2d::StaticLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}
| 453 | YAML | 31.428569 | 69 | 0.673289 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_cheetah_config/config/move_base/local_costmap_params.yaml | local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 2.5
height: 2.5
cost_scaling_factor: 5
plugins:
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}
| 435 | YAML | 24.647057 | 69 | 0.675862 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/aliengo_config/README.md |
## 1. Quick Start
You don't need a physical robot to run the following demos.
### 1.1. Walking demo in RVIZ:
#### 1.1.1. Run the base driver:
roslaunch aliengo_config bringup.launch rviz:=true
#### 1.1.2. Run the teleop node:
roslaunch champ_teleop teleop.launch
If you want to use a [joystick](https://www.logitechg.com/en-hk/products/gamepads/f710-wireless-gamepad.html) add joy:=true as an argument.
### 1.2. SLAM demo:
#### 1.2.1. Run the Gazebo environment:
roslaunch aliengo_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch aliengo_config slam.launch rviz:=true
To start mapping:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
- Save the map by running:
roscd aliengo_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch aliengo_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch aliengo_config navigate.launch rviz:=true
To navigate:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
#### 1.4.1 Spawning multiple robots in Gazebo
Run Gazebo and default simulation world:
roslaunch champ_gazebo spawn_world.launch
You can also load your own world file by passing your world's path to 'gazebo_world' argument:
roslaunch champ_gazebo spawn_world.launch gazebo_world:=<path_to_world_file>
Spawning a robot:
roslaunch aliengo_config spawn_robot.launch robot_name:=<unique_robot_name> world_init_x:=<x_position> world_init_y:=<y_position>
* Every instance of the spawned robot must have a unique robot name to prevent the topics and transforms from clashing.
---
:exclamation: *This is not an official product from the robot's company/author.* | 2,001 | Markdown | 25 | 139 | 0.72064 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/aliengo_config/maps/map.yaml | image: map.pgm
resolution: 0.050000
origin: [-50.000000, -50.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
| 131 | YAML | 15.499998 | 42 | 0.725191 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/aliengo_config/include/quadruped_description.h | #ifndef QUADRUPED_DESCRIPTION_H
#define QUADRUPED_DESCRIPTION_H
#include <quadruped_base/quadruped_base.h>
namespace champ
{
namespace URDF
{
void loadFromHeader(champ::QuadrupedBase &base)
{
base.lf.hip.setOrigin(0.2399, 0.051, 0.0, 0.0, 0.0, 0.0);
base.lf.upper_leg.setOrigin(0.0, -0.083, -0.0, 0.0, 0.0, 0.0);
base.lf.lower_leg.setOrigin(0.0, 0.0, -0.25, 0.0, 0.0, 0.0);
base.lf.foot.setOrigin(0.0, 0.0, -0.25, 0.0, 0.0, 0.0);
base.rf.hip.setOrigin(0.2399, -0.051, 0.0, 0.0, 0.0, 0.0);
base.rf.upper_leg.setOrigin(0.0, 0.083, -0.0, 0.0, 0.0, 0.0);
base.rf.lower_leg.setOrigin(0.0, 0.0, -0.25, 0.0, 0.0, 0.0);
base.rf.foot.setOrigin(0.0, 0.0, -0.25, 0.0, 0.0, 0.0);
base.lh.hip.setOrigin(-0.2399, 0.051, 0.0, 0.0, 0.0, 0.0);
base.lh.upper_leg.setOrigin(0.0, 0.083, -0.0, 0.0, 0.0, 0.0);
base.lh.lower_leg.setOrigin(0.0, 0.0, -0.25, 0.0, 0.0, 0.0);
base.lh.foot.setOrigin(0.0, 0.0, -0.25, 0.0, 0.0, 0.0);
base.rh.hip.setOrigin(-0.2399, -0.051, 0.0, 0.0, 0.0, 0.0);
base.rh.upper_leg.setOrigin(0.0, -0.083, -0.0, 0.0, 0.0, 0.0);
base.rh.lower_leg.setOrigin(0.0, 0.0, -0.25, 0.0, 0.0, 0.0);
base.rh.foot.setOrigin(0.0, 0.0, -0.25, 0.0, 0.0, 0.0);
}
}
}
#endif | 1,243 | C | 35.588234 | 65 | 0.579244 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/aliengo_config/include/hardware_config.h | #ifndef HARDWARE_CONFIG_H
#define HARDWARE_CONFIG_H
#define USE_SIMULATION_ACTUATOR
// #define USE_DYNAMIXEL_ACTUATOR
// #define USE_SERVO_ACTUATOR
// #define USE_BRUSHLESS_ACTUATOR
#define USE_SIMULATION_IMU
// #define USE_BNO0809DOF_IMU
#define USE_ROS
// #define USE_ROS_RF
#ifdef USE_ROS_RF
#define ELE_PIN 16
#define AIL_PIN 21
#define RUD_PIN 17
#define THR_PIN 20
#define AUX1_PIN 22
#define AUX2_PIN 23
#define RF_INV_LX false
#define RF_INV_LY false
#define RF_INV_AZ false
#define RF_INV_ROLL true
#define RF_INV_PITCH false
#define RF_INV_YAW false
#endif
#ifdef USE_DYNAMIXEL_ACTUATOR
#define LFH_SERVO_ID 16
#define LFU_SERVO_ID 17
#define LFL_SERVO_ID 18
#define RFH_SERVO_ID 14
#define RFU_SERVO_ID 7
#define RFL_SERVO_ID 4
#define LHH_SERVO_ID 2
#define LHU_SERVO_ID 11
#define LHL_SERVO_ID 12
#define RHH_SERVO_ID 6
#define RHU_SERVO_ID 5
#define RHL_SERVO_ID 8
#define LFH_INV false
#define LFU_INV false
#define LFL_INV true
#define RFH_INV false
#define RFU_INV true
#define RFL_INV false
#define LHH_INV false
#define LHU_INV false
#define LHL_INV true
#define RHH_INV false
#define RHU_INV true
#define RHL_INV false
#endif
#ifdef USE_SERVO_ACTUATOR
#define LFH_PIN 8
#define LFU_PIN 7
#define LFL_PIN 6
#define RFH_PIN 14
#define RFU_PIN 16
#define RFL_PIN 17
#define LHH_PIN 4
#define LHU_PIN 3
#define LHL_PIN 2
#define RHH_PIN 21
#define RHU_PIN 22
#define RHL_PIN 23
#define LFH_OFFSET 0
#define LFU_OFFSET 0
#define LFL_OFFSET 0
#define RFH_OFFSET 0
#define RFU_OFFSET 0
#define RFL_OFFSET 0
#define LHH_OFFSET 0
#define LHU_OFFSET 0
#define LHL_OFFSET 3
#define RHH_OFFSET 0
#define RHU_OFFSET 0
#define RHL_OFFSET 0
#define LFH_INV false
#define LFU_INV false
#define LFL_INV false
#define RFH_INV false
#define RFU_INV true
#define RFL_INV true
#define LHH_INV true
#define LHU_INV false
#define LHL_INV false
#define RHH_INV true
#define RHU_INV true
#define RHL_INV true
#endif
#endif | 2,231 | C | 18.578947 | 33 | 0.651277 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/aliengo_config/include/gait_config.h | #ifndef GAIT_CONFIG_H
#define GAIT_CONFIG_H
#define KNEE_ORIENTATION ">>"
#define PANTOGRAPH_LEG false
#define ODOM_SCALER 1.0
#define MAX_LINEAR_VELOCITY_X 0.5
#define MAX_LINEAR_VELOCITY_Y 0.25
#define MAX_ANGULAR_VELOCITY_Z 1.0
#define COM_X_TRANSLATION 0.0
#define SWING_HEIGHT 0.04
#define STANCE_DEPTH 0.0
#define STANCE_DURATION 0.25
#define NOMINAL_HEIGHT 0.2
#endif | 454 | C | 27.437498 | 37 | 0.634361 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/aliengo_config/config/links/links.yaml | base: base
left_front:
- FL_hip
- FL_thigh
- FL_calf
- FL_foot
right_front:
- FR_hip
- FR_thigh
- FR_calf
- FR_foot
left_hind:
- RL_hip
- RL_thigh
- RL_calf
- RL_foot
right_hind:
- RR_hip
- RR_thigh
- RR_calf
- RR_foot | 253 | YAML | 9.583333 | 12 | 0.55336 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/aliengo_config/config/ros_control/ros_control.yaml | "":
joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 200
joint_group_position_controller:
type: effort_controllers/JointTrajectoryController
joints:
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
gains:
FR_hip_joint : {p: 200, i: 0, d: 15}
FR_thigh_joint : {p: 200, i: 0, d: 15}
FR_calf_joint : {p: 200, i: 0, d: 15}
FL_hip_joint : {p: 200, i: 0, d: 15}
FL_thigh_joint : {p: 200, i: 0, d: 15}
FL_calf_joint : {p: 200, i: 0, d: 15}
RL_hip_joint : {p: 200, i: 0, d: 15}
RL_thigh_joint : {p: 200, i: 0, d: 15}
RL_calf_joint : {p: 200, i: 0, d: 15}
RR_hip_joint : {p: 200, i: 0, d: 15}
RR_thigh_joint : {p: 200, i: 0, d: 15}
RR_calf_joint : {p: 200, i: 0, d: 15}
| 1,096 | YAML | 30.342856 | 56 | 0.489051 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/aliengo_config/config/gait/gait.yaml | knee_orientation : ">>"
pantograph_leg : false
odom_scaler: 0.9
max_linear_velocity_x : 1.5
max_linear_velocity_y : 0.25
max_angular_velocity_z : 1.0
com_x_translation : -0.05
swing_height : 0.06
stance_depth : 0.0
stance_duration : 0.4
nominal_height : 0.35 | 258 | YAML | 22.545452 | 28 | 0.713178 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/aliengo_config/config/joints/joints.yaml | left_front:
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- FL_foot_fixed
right_front:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FR_foot_fixed
left_hind:
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
- RL_foot_fixed
right_hind:
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RR_foot_fixed | 338 | YAML | 13.73913 | 18 | 0.627219 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/aliengo_config/config/move_base/costmap_common_params.yaml | obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]]
transform_tolerance: 0.5
resolution: 0.05
static_map_layer:
map_topic: map
subscribe_to_updates: true
2d_obstacles_layer:
observation_sources: scan
scan: {data_type: LaserScan,
topic: scan,
marking: true,
clearing: true}
3d_obstacles_layer:
observation_sources: depth
depth: {data_type: PointCloud2,
topic: camera/depth/points,
min_obstacle_height: 0.1,
marking: true,
clearing: true}
inflation_layer:
inflation_radius: 2.0 | 594 | YAML | 20.249999 | 75 | 0.666667 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/aliengo_config/config/move_base/base_local_planner_holonomic_params.yaml | DWAPlannerROS:
#http://wiki.ros.org/dwa_local_planner
min_vel_trans: 0.01
max_vel_trans: 0.5
min_vel_x: -0.025
max_vel_x: 0.5
min_vel_y: 0.0
max_vel_y: 0.0
max_vel_rot: 1.0
min_vel_rot: -1.0
acc_lim_trans: 2.5
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 6
trans_stopped_vel: 0.1
theta_stopped_vel: 0.1
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.34
sim_time: 3.5
sim_granularity: 0.1
vx_samples: 20
vy_samples: 0
vth_samples: 40
path_distance_bias: 34.0
goal_distance_bias: 24.0
occdist_scale: 0.05
forward_point_distance: 0.2
stop_time_buffer: 0.5
scaling_speed: 0.25
max_scaling_factor: 0.2
oscillation_reset_dist: 0.05
use_dwa: true
prune_plan: false
| 734 | YAML | 14.638298 | 40 | 0.643052 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/aliengo_config/config/move_base/move_base_params.yaml | base_global_planner: global_planner/GlobalPlanner
base_local_planner: dwa_local_planner/DWAPlannerROS
shutdown_costmaps: false
controller_frequency: 5.0
controller_patience: 3.0
planner_frequency: 0.5
planner_patience: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
conservative_reset_dist: 0.1 | 308 | YAML | 19.599999 | 51 | 0.808442 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/aliengo_config/config/move_base/global_costmap_params.yaml | global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
cost_scaling_factor: 10.0
plugins:
- {name: static_map_layer, type: "costmap_2d::StaticLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}
| 453 | YAML | 31.428569 | 69 | 0.673289 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/aliengo_config/config/move_base/local_costmap_params.yaml | local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 2.5
height: 2.5
cost_scaling_factor: 5
plugins:
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}
| 435 | YAML | 24.647057 | 69 | 0.675862 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/README.md |
## 1. Quick Start
You don't need a physical robot to run the following demos.
### 1.1. Walking demo in RVIZ:
#### 1.1.1. Run the base driver:
roslaunch stanford_pupper_config bringup.launch rviz:=true
#### 1.1.2. Run the teleop node:
roslaunch champ_teleop teleop.launch
If you want to use a [joystick](https://www.logitechg.com/en-hk/products/gamepads/f710-wireless-gamepad.html) add joy:=true as an argument.
### 1.2. SLAM demo:
#### 1.2.1. Run the Gazebo environment:
roslaunch stanford_pupper_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch stanford_pupper_config slam.launch rviz:=true
To start mapping:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
- Save the map by running:
roscd stanford_pupper_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch stanford_pupper_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch stanford_pupper_config navigate.launch rviz:=true
To navigate:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
#### 1.4.1 Spawning multiple robots in Gazebo
Run Gazebo and default simulation world:
roslaunch champ_gazebo spawn_world.launch
You can also load your own world file by passing your world's path to 'gazebo_world' argument:
roslaunch champ_gazebo spawn_world.launch gazebo_world:=<path_to_world_file>
Spawning a robot:
roslaunch stanford_pupper_config spawn_robot.launch robot_name:=<unique_robot_name> world_init_x:=<x_position> world_init_y:=<y_position>
* Every instance of the spawned robot must have a unique robot name to prevent the topics and transforms from clashing.
---
:exclamation: *This is not an official product from the robot's company/author.* | 2,057 | Markdown | 25.727272 | 141 | 0.724842 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/maps/map.yaml | image: map.pgm
resolution: 0.050000
origin: [-50.000000, -50.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
| 131 | YAML | 15.499998 | 42 | 0.725191 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/include/quadruped_description.h | #ifndef QUADRUPED_DESCRIPTION_H
#define QUADRUPED_DESCRIPTION_H
#include <quadruped_base/quadruped_base.h>
namespace champ
{
namespace URDF
{
void loadFromHeader(champ::QuadrupedBase &base)
{
base.lf.hip.setOrigin(0.0705, 0.04, 0.02425, 0.0, 0.0, 0.0);
base.lf.upper_leg.setOrigin(0.02735, 0.029523, -0.0012724, 0.0, 0.0, -1.5708);
base.lf.lower_leg.setOrigin(-0.00516, -0.10458, -0.065536, -0.043072, 0.0, 1.5708);
base.lf.foot.setOrigin(0.097, -0.0055, -0.064, 0.0, 0.0, 0.0);
base.rf.hip.setOrigin(0.0705, -0.04, 0.02425, 0.0, 0.0, 0.0);
base.rf.upper_leg.setOrigin(0.02735, -0.029523, -0.0012724, 0.0, 0.0, -1.5708);
base.rf.lower_leg.setOrigin(0.00516, -0.10458, -0.065536, -0.043072, 0.0, 1.5708);
base.rf.foot.setOrigin(0.097, 0.0054, -0.064, 0.0, 0.0, 0.0);
base.lh.hip.setOrigin(-0.1299, 0.04, 0.02425, 0.0, 0.0, 0.0);
base.lh.upper_leg.setOrigin(0.02775, 0.029523, -0.0012724, 0.0, 0.0, -1.5708);
base.lh.lower_leg.setOrigin(-0.0054498, -0.10458, -0.065524, -0.043072, 0.0, 1.5708);
base.lh.foot.setOrigin(0.097, -0.0055, -0.064, 0.0, 0.0, 0.0);
base.rh.hip.setOrigin(-0.0705, -0.04, 0.02425, 0.0, 0.0, 0.0);
base.rh.upper_leg.setOrigin(-0.17265, -0.029523, -0.0012724, 0.0, 0.0, -1.5708);
base.rh.lower_leg.setOrigin(0.0054098, -0.10458, -0.065525, -0.043072, 0.0, 1.5708);
base.rh.foot.setOrigin(0.097, 0.0054, -0.064, 0.0, 0.0, 0.0);
}
}
}
#endif | 1,444 | C | 41.499999 | 85 | 0.626039 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/include/hardware_config.h | #ifndef HARDWARE_CONFIG_H
#define HARDWARE_CONFIG_H
#define USE_SIMULATION_ACTUATOR
// #define USE_DYNAMIXEL_ACTUATOR
// #define USE_SERVO_ACTUATOR
// #define USE_BRUSHLESS_ACTUATOR
#define USE_SIMULATION_IMU
// #define USE_BNO0809DOF_IMU
#define USE_ROS
// #define USE_ROS_RF
#ifdef USE_ROS_RF
#define ELE_PIN 16
#define AIL_PIN 21
#define RUD_PIN 17
#define THR_PIN 20
#define AUX1_PIN 22
#define AUX2_PIN 23
#define RF_INV_LX false
#define RF_INV_LY false
#define RF_INV_AZ false
#define RF_INV_ROLL true
#define RF_INV_PITCH false
#define RF_INV_YAW false
#endif
#ifdef USE_DYNAMIXEL_ACTUATOR
#define LFH_SERVO_ID 16
#define LFU_SERVO_ID 17
#define LFL_SERVO_ID 18
#define RFH_SERVO_ID 14
#define RFU_SERVO_ID 7
#define RFL_SERVO_ID 4
#define LHH_SERVO_ID 2
#define LHU_SERVO_ID 11
#define LHL_SERVO_ID 12
#define RHH_SERVO_ID 6
#define RHU_SERVO_ID 5
#define RHL_SERVO_ID 8
#define LFH_INV false
#define LFU_INV false
#define LFL_INV true
#define RFH_INV false
#define RFU_INV true
#define RFL_INV false
#define LHH_INV false
#define LHU_INV false
#define LHL_INV true
#define RHH_INV false
#define RHU_INV true
#define RHL_INV false
#endif
#ifdef USE_SERVO_ACTUATOR
#define LFH_PIN 8
#define LFU_PIN 7
#define LFL_PIN 6
#define RFH_PIN 14
#define RFU_PIN 16
#define RFL_PIN 17
#define LHH_PIN 4
#define LHU_PIN 3
#define LHL_PIN 2
#define RHH_PIN 21
#define RHU_PIN 22
#define RHL_PIN 23
#define LFH_OFFSET 0
#define LFU_OFFSET 0
#define LFL_OFFSET 0
#define RFH_OFFSET 0
#define RFU_OFFSET 0
#define RFL_OFFSET 0
#define LHH_OFFSET 0
#define LHU_OFFSET 0
#define LHL_OFFSET 3
#define RHH_OFFSET 0
#define RHU_OFFSET 0
#define RHL_OFFSET 0
#define LFH_INV false
#define LFU_INV false
#define LFL_INV false
#define RFH_INV false
#define RFU_INV true
#define RFL_INV true
#define LHH_INV true
#define LHU_INV false
#define LHL_INV false
#define RHH_INV true
#define RHU_INV true
#define RHL_INV true
#endif
#endif | 2,231 | C | 18.578947 | 33 | 0.651277 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/include/gait_config.h | #ifndef GAIT_CONFIG_H
#define GAIT_CONFIG_H
#define KNEE_ORIENTATION ">>"
#define PANTOGRAPH_LEG false
#define ODOM_SCALER 1.0
#define MAX_LINEAR_VELOCITY_X 0.5
#define MAX_LINEAR_VELOCITY_Y 0.25
#define MAX_ANGULAR_VELOCITY_Z 1.0
#define COM_X_TRANSLATION 0.0
#define SWING_HEIGHT 0.01
#define STANCE_DEPTH 0.0
#define STANCE_DURATION 0.25
#define NOMINAL_HEIGHT 0.15
#endif | 455 | C | 27.499998 | 37 | 0.635165 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/config/links/links.yaml | base: base_link
left_front:
- LF_HIP
- LF_THIGH
- LF_THIGH_FOOT
- LF_TOE
right_front:
- RF_HIP
- RF_THIGH
- RF_THIGH_FOOT
- RF_TOE
left_hind:
- LH_HIP
- LH_THIGH
- LH_THIGH_FOOT
- LH_TOE
right_hind:
- RH_HIP
- RH_THIGH
- RH_THIGH_FOOT
- RH_TOE | 278 | YAML | 10.625 | 17 | 0.57554 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/config/ros_control/ros_control.yaml | "":
joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
joint_group_position_controller:
type: effort_controllers/JointTrajectoryController
joints:
- LF_HIP_JOINT
- LF_THIGH_JOINT
- LF_THIGH_FOOT_JOINT
- RF_HIP_JOINT
- RF_THIGH_JOINT
- RF_THIGH_FOOT_JOINT
- LH_HIP_JOINT
- LH_THIGH_JOINT
- LH_THIGH_FOOT_JOINT
- RH_HIP_JOINT
- RH_THIGH_JOINT
- RH_THIGH_FOOT_JOINT
gains:
LF_HIP_JOINT : {p: 100, d: 0.00000001, i: 0.5}
LF_THIGH_JOINT : {p: 50, d: 0.0000001, i: 0.2}
LF_THIGH_FOOT_JOINT : {p: 10, d: 0.00000001, i: 0.1}
RF_HIP_JOINT : {p: 100, d: 0.00000001, i: 0.5}
RF_THIGH_JOINT : {p: 50, d: 0.0000001, i: 0.2}
RF_THIGH_FOOT_JOINT : {p: 10, d: 0.00000001, i: 0.1}
LH_HIP_JOINT : {p: 100, d: 0.00000001, i: 0.5}
LH_THIGH_JOINT : {p: 50, d: 0.0000001, i: 0.2}
LH_THIGH_FOOT_JOINT : {p: 10, d: 0.00000001, i: 0.1}
RH_HIP_JOINT : {p: 100, d: 0.00000001, i: 0.5}
RH_THIGH_JOINT : {p: 50, d: 0.0000001, i: 0.2}
RH_THIGH_FOOT_JOINT : {p: 10, d: 0.00000001, i: 0.1}
| 1,255 | YAML | 32.052631 | 60 | 0.5251 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/config/gait/gait.yaml | knee_orientation : ">>"
pantograph_leg : false
odom_scaler: 1.0
max_linear_velocity_x : 0.25
max_linear_velocity_y : 0.125
max_angular_velocity_z : 1.0
com_x_translation : 0.0
swing_height : 0.01
stance_depth : 0.0
stance_duration : 0.25
nominal_height : 0.15 | 259 | YAML | 22.636362 | 29 | 0.718147 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/config/joints/joints.yaml | left_front:
- LF_HIP_JOINT
- LF_THIGH_JOINT
- LF_THIGH_FOOT_JOINT
- LF_TOE_JOINT
right_front:
- RF_HIP_JOINT
- RF_THIGH_JOINT
- RF_THIGH_FOOT_JOINT
- RF_TOE_JOINT
left_hind:
- LH_HIP_JOINT
- LH_THIGH_JOINT
- LH_THIGH_FOOT_JOINT
- LH_TOE_JOINT
right_hind:
- RH_HIP_JOINT
- RH_THIGH_JOINT
- RH_THIGH_FOOT_JOINT
- RH_TOE_JOINT | 358 | YAML | 14.608695 | 23 | 0.636872 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/config/move_base/costmap_common_params.yaml | obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]]
transform_tolerance: 0.5
resolution: 0.05
static_map_layer:
map_topic: map
subscribe_to_updates: true
2d_obstacles_layer:
observation_sources: scan
scan: {data_type: LaserScan,
topic: scan,
marking: true,
clearing: true}
3d_obstacles_layer:
observation_sources: depth
depth: {data_type: PointCloud2,
topic: camera/depth/points,
min_obstacle_height: 0.1,
marking: true,
clearing: true}
inflation_layer:
inflation_radius: 2.0 | 594 | YAML | 20.249999 | 75 | 0.666667 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/config/move_base/base_local_planner_holonomic_params.yaml | DWAPlannerROS:
#http://wiki.ros.org/dwa_local_planner
min_vel_trans: 0.01
max_vel_trans: 0.5
min_vel_x: -0.025
max_vel_x: 0.5
min_vel_y: 0.0
max_vel_y: 0.0
max_vel_rot: 1.0
min_vel_rot: -1.0
acc_lim_trans: 1.7
acc_lim_x: 1.7
acc_lim_y: 0.0
acc_lim_theta: 3
trans_stopped_vel: 0.1
theta_stopped_vel: 0.1
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.34
sim_time: 3.5
sim_granularity: 0.1
vx_samples: 20
vy_samples: 0
vth_samples: 40
path_distance_bias: 34.0
goal_distance_bias: 24.0
occdist_scale: 0.05
forward_point_distance: 0.2
stop_time_buffer: 0.5
scaling_speed: 0.25
max_scaling_factor: 0.2
oscillation_reset_dist: 0.05
use_dwa: true
prune_plan: false
| 734 | YAML | 14.638298 | 40 | 0.643052 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/config/move_base/move_base_params.yaml | base_global_planner: global_planner/GlobalPlanner
base_local_planner: dwa_local_planner/DWAPlannerROS
shutdown_costmaps: false
controller_frequency: 5.0
controller_patience: 3.0
planner_frequency: 0.5
planner_patience: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
conservative_reset_dist: 0.1 | 308 | YAML | 19.599999 | 51 | 0.808442 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/config/move_base/global_costmap_params.yaml | global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
cost_scaling_factor: 10.0
plugins:
- {name: static_map_layer, type: "costmap_2d::StaticLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}
| 453 | YAML | 31.428569 | 69 | 0.673289 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/config/move_base/local_costmap_params.yaml | local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 2.5
height: 2.5
cost_scaling_factor: 5
plugins:
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}
| 435 | YAML | 24.647057 | 69 | 0.675862 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_pupper_config/README.md | Currently this only works in a virtual environment.
## 1. Quick Start
You don't need a physical robot to run the following demos.
### 1.1. Walking demo in RVIZ:
#### 1.1.1. Run the base driver:
roslaunch mini_pupper_config bringup.launch rviz:=true
#### 1.1.2. Run the teleop node:
roslaunch champ_teleop teleop.launch
If you want to use a [joystick](https://www.logitechg.com/en-hk/products/gamepads/f710-wireless-gamepad.html) add joy:=true as an argument.
### 1.2. SLAM demo:
#### 1.2.1. Run the Gazebo environment:
roslaunch mini_pupper_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch mini_pupper_config slam.launch rviz:=true
To start mapping:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
- Save the map by running:
roscd mini_pupper_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch mini_pupper_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch mini_pupper_config navigate.launch rviz:=true
To navigate:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
#### 1.4.1 Spawning multiple robots in Gazebo
Run Gazebo and default simulation world:
roslaunch champ_gazebo spawn_world.launch
You can also load your own world file by passing your world's path to 'gazebo_world' argument:
roslaunch champ_gazebo spawn_world.launch gazebo_world:=<path_to_world_file>
Spawning a robot:
roslaunch mini_pupper_config spawn_robot.launch robot_name:=<unique_robot_name> world_init_x:=<x_position> world_init_y:=<y_position>
- Every instance of the spawned robot must have a unique robot name to prevent the topics and transforms from clashing.
---
:exclamation: _This is not an official product from the robot's company/author._
| 2,069 | Markdown | 25.883117 | 139 | 0.727888 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_pupper_config/maps/map.yaml | image: map.pgm
resolution: 0.050000
origin: [-50.000000, -50.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
| 131 | YAML | 15.499998 | 42 | 0.725191 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_pupper_config/include/quadruped_description.h | #ifndef QUADRUPED_DESCRIPTION_H
#define QUADRUPED_DESCRIPTION_H
#include <quadruped_base/quadruped_base.h>
namespace champ
{
namespace URDF
{
void loadFromHeader(champ::QuadrupedBase &base)
{
base.lf.hip.setOrigin(0.06014, 0.0235, 0.0171, 0.0, 0.0, 0.0);
base.lf.upper_leg.setOrigin(0.0, 0.0197, -0.0, 0.0, 0.0, 0.0);
base.lf.lower_leg.setOrigin(0.0, 0.00475, -0.05, 0.0, 0.0, 0.0);
base.lf.foot.setOrigin(0.0, 0.0, -0.056, 0.0, 0.0, 0.0);
base.rf.hip.setOrigin(0.06014, -0.0235, 0.0171, 0.0, 0.0, 0.0);
base.rf.upper_leg.setOrigin(0.0, -0.0197, -0.0, 0.0, 0.0, 0.0);
base.rf.lower_leg.setOrigin(0.0, -0.00475, -0.05, 0.0, 0.0, 0.0);
base.rf.foot.setOrigin(0.0, 0.0, -0.056, 0.0, 0.0, 0.0);
base.lh.hip.setOrigin(-0.05886, 0.0235, 0.0171, 0.0, 0.0, 0.0);
base.lh.upper_leg.setOrigin(0.0, 0.0197, -0.0, 0.0, 0.0, 0.0);
base.lh.lower_leg.setOrigin(0.0, 0.00475, -0.05, 0.0, 0.0, 0.0);
base.lh.foot.setOrigin(0.0, 0.0, -0.056, 0.0, 0.0, 0.0);
base.rh.hip.setOrigin(-0.05886, -0.0235, 0.0171, 0.0, 0.0, 0.0);
base.rh.upper_leg.setOrigin(0.0, -0.0197, -0.0, 0.0, 0.0, 0.0);
base.rh.lower_leg.setOrigin(0.0, -0.00475, -0.05, 0.0, 0.0, 0.0);
base.rh.foot.setOrigin(0.0, 0.0, -0.056, 0.0, 0.0, 0.0);
}
}
}
#endif | 1,289 | C | 36.941175 | 70 | 0.592708 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_pupper_config/include/hardware_config.h | #ifndef HARDWARE_CONFIG_H
#define HARDWARE_CONFIG_H
#define USE_SIMULATION_ACTUATOR
// #define USE_DYNAMIXEL_ACTUATOR
// #define USE_SERVO_ACTUATOR
// #define USE_BRUSHLESS_ACTUATOR
#define USE_SIMULATION_IMU
// #define USE_BNO0809DOF_IMU
#define USE_ROS
// #define USE_ROS_RF
#ifdef USE_ROS_RF
#define ELE_PIN 16
#define AIL_PIN 21
#define RUD_PIN 17
#define THR_PIN 20
#define AUX1_PIN 22
#define AUX2_PIN 23
#define RF_INV_LX false
#define RF_INV_LY false
#define RF_INV_AZ false
#define RF_INV_ROLL true
#define RF_INV_PITCH false
#define RF_INV_YAW false
#endif
#ifdef USE_DYNAMIXEL_ACTUATOR
#define LFH_SERVO_ID 16
#define LFU_SERVO_ID 17
#define LFL_SERVO_ID 18
#define RFH_SERVO_ID 14
#define RFU_SERVO_ID 7
#define RFL_SERVO_ID 4
#define LHH_SERVO_ID 2
#define LHU_SERVO_ID 11
#define LHL_SERVO_ID 12
#define RHH_SERVO_ID 6
#define RHU_SERVO_ID 5
#define RHL_SERVO_ID 8
#define LFH_INV false
#define LFU_INV false
#define LFL_INV true
#define RFH_INV false
#define RFU_INV true
#define RFL_INV false
#define LHH_INV false
#define LHU_INV false
#define LHL_INV true
#define RHH_INV false
#define RHU_INV true
#define RHL_INV false
#endif
#ifdef USE_SERVO_ACTUATOR
#define LFH_PIN 8
#define LFU_PIN 7
#define LFL_PIN 6
#define RFH_PIN 14
#define RFU_PIN 16
#define RFL_PIN 17
#define LHH_PIN 4
#define LHU_PIN 3
#define LHL_PIN 2
#define RHH_PIN 21
#define RHU_PIN 22
#define RHL_PIN 23
#define LFH_OFFSET 0
#define LFU_OFFSET 0
#define LFL_OFFSET 0
#define RFH_OFFSET 0
#define RFU_OFFSET 0
#define RFL_OFFSET 0
#define LHH_OFFSET 0
#define LHU_OFFSET 0
#define LHL_OFFSET 3
#define RHH_OFFSET 0
#define RHU_OFFSET 0
#define RHL_OFFSET 0
#define LFH_INV false
#define LFU_INV false
#define LFL_INV false
#define RFH_INV false
#define RFU_INV true
#define RFL_INV true
#define LHH_INV true
#define LHU_INV false
#define LHL_INV false
#define RHH_INV true
#define RHU_INV true
#define RHL_INV true
#endif
#endif | 2,231 | C | 18.578947 | 33 | 0.651277 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_pupper_config/include/gait_config.h | #ifndef GAIT_CONFIG_H
#define GAIT_CONFIG_H
#define KNEE_ORIENTATION ">>"
#define PANTOGRAPH_LEG false
#define ODOM_SCALER 1.0
#define MAX_LINEAR_VELOCITY_X 0.2
#define MAX_LINEAR_VELOCITY_Y 0.1
#define MAX_ANGULAR_VELOCITY_Z 0.45
#define COM_X_TRANSLATION 0.0
#define SWING_HEIGHT 0.008
#define STANCE_DEPTH 0.0
#define STANCE_DURATION 0.25
#define NOMINAL_HEIGHT 0.045
#endif | 457 | C | 27.624998 | 37 | 0.636761 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_pupper_config/config/links/links.yaml | base: base_link
left_front:
- lf_hip_link
- lf_upper_leg_link
- lf_lower_leg_link
- lf_foot_link
right_front:
- rf_hip_link
- rf_upper_leg_link
- rf_lower_leg_link
- rf_foot_link
left_hind:
- lh_hip_link
- lh_upper_leg_link
- lh_lower_leg_link
- lh_foot_link
right_hind:
- rh_hip_link
- rh_upper_leg_link
- rh_lower_leg_link
- rh_foot_link | 374 | YAML | 14.624999 | 21 | 0.631016 |
Subsets and Splits