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renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_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_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: 100, d: 0.05, i: 25}
lf_upper_leg_joint : {p: 100, d: 0.05, i: 25}
lf_lower_leg_joint : {p: 100, d: 0.05, i: 25}
rf_hip_joint : {p: 100, d: 0.05, i: 25}
rf_upper_leg_joint : {p: 100, d: 0.05, i: 25}
rf_lower_leg_joint : {p: 100, d: 0.05, i: 25}
lh_hip_joint : {p: 100, d: 0.05, i: 25}
lh_upper_leg_joint : {p: 100, d: 0.05, i: 25}
lh_lower_leg_joint : {p: 100, d: 0.05, i: 25}
rh_hip_joint : {p: 100, d: 0.05, i: 25}
rh_upper_leg_joint : {p: 100, d: 0.05, i: 25}
rh_lower_leg_joint : {p: 100, d: 0.05, i: 25}
| 1,203 | YAML | 33.399999 | 56 | 0.511222 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_pupper_config/config/gait/gait.yaml | knee_orientation : ">>"
pantograph_leg : false
odom_scaler: 1.0
max_linear_velocity_x : 0.2
max_linear_velocity_y : 0.1
max_angular_velocity_z : 0.45
com_x_translation : 0.0
swing_height : 0.008
stance_depth : 0.0
stance_duration : 0.25
nominal_height : 0.045 | 259 | YAML | 22.636362 | 29 | 0.718147 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_pupper_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/mini_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/mini_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/mini_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/mini_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/mini_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/dkitty_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 dkitty_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 dkitty_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch dkitty_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 dkitty_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch dkitty_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch dkitty_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 dkitty_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.* | 1,994 | Markdown | 24.909091 | 139 | 0.719659 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dkitty_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/dkitty_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(0.1212, 0.0903, 0.0, 0.0, 0.0, 0.0);
base.lf.upper_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0);
base.lf.lower_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0);
base.lf.foot.setOrigin(0.0, 0.0, -0.10885, 0.0, 0.0, 0.0);
base.rf.hip.setOrigin(0.1212, -0.0903, 0.0, 0.0, 0.0, 0.0);
base.rf.upper_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0);
base.rf.lower_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0);
base.rf.foot.setOrigin(0.0, 0.0, -0.10885, 0.0, 0.0, 0.0);
base.lh.hip.setOrigin(-0.1212, 0.0903, 0.0, 0.0, 0.0, 0.0);
base.lh.upper_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0);
base.lh.lower_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0);
base.lh.foot.setOrigin(0.0, 0.0, -0.10885, 0.0, 0.0, 0.0);
base.rh.hip.setOrigin(-0.1212, -0.0903, 0.0, 0.0, 0.0, 0.0);
base.rh.upper_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0);
base.rh.lower_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0);
base.rh.foot.setOrigin(0.0, 0.0, -0.10885, 0.0, 0.0, 0.0);
}
}
}
#endif | 1,269 | C | 36.35294 | 66 | 0.589441 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dkitty_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/dkitty_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 0.2
#define NOMINAL_HEIGHT 0.23
#endif | 454 | C | 27.437498 | 37 | 0.634361 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dkitty_config/config/links/links.yaml | base: base_link
left_front:
- lf_hip_adapter_link
- lf_upper_leg_adapter_link
- lf_lower_leg_adapter_link
- lf_foot_link
right_front:
- rf_hip_adapter_link
- rf_upper_leg_adapter_link
- rf_lower_leg_adapter_link
- rf_foot_link
left_hind:
- lh_hip_adapter_link
- lh_upper_leg_adapter_link
- lh_lower_leg_adapter_link
- lh_foot_link
right_hind:
- rh_hip_adapter_link
- rh_upper_leg_adapter_link
- rh_lower_leg_adapter_link
- rh_foot_link | 470 | YAML | 18.624999 | 29 | 0.680851 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dkitty_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_adapter_joint
- lf_upper_leg_adapter_joint
- lf_lower_leg_adapter_joint
- rf_hip_adapter_joint
- rf_upper_leg_adapter_joint
- rf_lower_leg_adapter_joint
- lh_hip_adapter_joint
- lh_upper_leg_adapter_joint
- lh_lower_leg_adapter_joint
- rh_hip_adapter_joint
- rh_upper_leg_adapter_joint
- rh_lower_leg_adapter_joint
gains:
lf_hip_adapter_joint : {p: 180, d: 0.9, i: 20}
lf_upper_leg_adapter_joint : {p: 180, d: 0.9, i: 20}
lf_lower_leg_adapter_joint : {p: 180, d: 0.9, i: 20}
rf_hip_adapter_joint : {p: 180, d: 0.9, i: 20}
rf_upper_leg_adapter_joint : {p: 180, d: 0.9, i: 20}
rf_lower_leg_adapter_joint : {p: 180, d: 0.9, i: 20}
lh_hip_adapter_joint : {p: 180, d: 0.9, i: 20}
lh_upper_leg_adapter_joint : {p: 180, d: 0.9, i: 20}
lh_lower_leg_adapter_joint : {p: 180, d: 0.9, i: 20}
rh_hip_adapter_joint : {p: 180, d: 0.9, i: 20}
rh_upper_leg_adapter_joint : {p: 180, d: 0.9, i: 20}
rh_lower_leg_adapter_joint : {p: 180, d: 0.9, i: 20}
| 1,383 | YAML | 38.542856 | 60 | 0.557484 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dkitty_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 : 0.04
stance_depth : 0.0
stance_duration : 0.2
nominal_height : 0.23 | 256 | YAML | 22.363634 | 28 | 0.714844 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dkitty_config/config/joints/joints.yaml | left_front:
- lf_hip_adapter_joint
- lf_upper_leg_adapter_joint
- lf_lower_leg_adapter_joint
- lf_foot_joint
right_front:
- rf_hip_adapter_joint
- rf_upper_leg_adapter_joint
- rf_lower_leg_adapter_joint
- rf_foot_joint
left_hind:
- lh_hip_adapter_joint
- lh_upper_leg_adapter_joint
- lh_lower_leg_adapter_joint
- lh_foot_joint
right_hind:
- rh_hip_adapter_joint
- rh_upper_leg_adapter_joint
- rh_lower_leg_adapter_joint
- rh_foot_joint | 470 | YAML | 19.47826 | 30 | 0.689362 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dkitty_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/dkitty_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/dkitty_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/dkitty_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/dkitty_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/bruno_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 bruno_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 bruno_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch bruno_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 bruno_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch bruno_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch bruno_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 bruno_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.* | 1,987 | Markdown | 24.818181 | 139 | 0.718671 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/bruno_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/bruno_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(0.1425, 0.04, 0.0, 0.0, 0.0, 0.0);
base.lf.upper_leg.setOrigin(0.0, 0.05, -0.04, 0.0, 0.0, 0.0);
base.lf.lower_leg.setOrigin(0.015, 0.0, -0.148, 0.0, 0.0, 0.0);
base.lf.foot.setOrigin(-0.0225, 0.0, -0.15, 0.0, 0.0, 0.0);
base.rf.hip.setOrigin(0.1425, -0.04, 0.0, 0.0, 0.0, 0.0);
base.rf.upper_leg.setOrigin(0.0, -0.05, -0.04, 0.0, 0.0, 0.0);
base.rf.lower_leg.setOrigin(0.015, 0.0, -0.148, 0.0, 0.0, 0.0);
base.rf.foot.setOrigin(-0.0225, 0.0, -0.15, 0.0, 0.0, 0.0);
base.lh.hip.setOrigin(-0.1425, 0.04, 0.0, 0.0, 0.0, 0.0);
base.lh.upper_leg.setOrigin(0.0, 0.05, -0.04, 0.0, 0.0, 0.0);
base.lh.lower_leg.setOrigin(0.015, 0.0, -0.148, 0.0, 0.0, 0.0);
base.lh.foot.setOrigin(-0.0225, 0.0, -0.15, 0.0, 0.0, 0.0);
base.rh.hip.setOrigin(-0.1425, -0.04, 0.0, 0.0, 0.0, 0.0);
base.rh.upper_leg.setOrigin(0.0, -0.05, -0.04, 0.0, 0.0, 0.0);
base.rh.lower_leg.setOrigin(0.015, 0.0, -0.148, 0.0, 0.0, 0.0);
base.rh.foot.setOrigin(-0.0225, 0.0, -0.15, 0.0, 0.0, 0.0);
}
}
}
#endif | 1,267 | C | 36.294117 | 64 | 0.584057 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/bruno_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/bruno_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 -0.04
#define SWING_HEIGHT 0.05
#define STANCE_DEPTH 0.0
#define STANCE_DURATION 0.2
#define NOMINAL_HEIGHT 0.25
#endif | 456 | C | 27.562498 | 37 | 0.633772 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/bruno_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/bruno_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/bruno_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 : -0.04
swing_height : 0.05
stance_depth : 0.0
stance_duration : 0.2
nominal_height : 0.25 | 258 | YAML | 22.545452 | 28 | 0.713178 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/bruno_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/bruno_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/bruno_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/bruno_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/bruno_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/bruno_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/a1_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 a1_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 a1_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch a1_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 a1_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch a1_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch a1_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 a1_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.* | 1,966 | Markdown | 24.545454 | 139 | 0.715666 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/a1_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/a1_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(0.1805, 0.047, 0.0, 0.0, 0.0, 0.0);
base.lf.upper_leg.setOrigin(0.0, 0.0838, -0.0, 0.0, 0.0, 0.0);
base.lf.lower_leg.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0);
base.lf.foot.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0);
base.rf.hip.setOrigin(0.1805, -0.047, 0.0, 0.0, 0.0, 0.0);
base.rf.upper_leg.setOrigin(0.0, -0.0838, -0.0, 0.0, 0.0, 0.0);
base.rf.lower_leg.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0);
base.rf.foot.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0);
base.lh.hip.setOrigin(-0.1805, 0.047, 0.0, 0.0, 0.0, 0.0);
base.lh.upper_leg.setOrigin(0.0, 0.0838, -0.0, 0.0, 0.0, 0.0);
base.lh.lower_leg.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0);
base.lh.foot.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0);
base.rh.hip.setOrigin(-0.1805, -0.047, 0.0, 0.0, 0.0, 0.0);
base.rh.upper_leg.setOrigin(0.0, -0.0838, -0.0, 0.0, 0.0, 0.0);
base.rh.lower_leg.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0);
base.rh.foot.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0);
}
}
}
#endif | 1,239 | C | 35.470587 | 65 | 0.577885 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/a1_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/a1_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/a1_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/a1_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: 0.9, i: 20}
FL_thigh_joint : {p: 180, d: 0.9, i: 20}
FL_calf_joint : {p: 180, d: 0.9, i: 20}
FR_hip_joint : {p: 180, d: 0.9, i: 20}
FR_thigh_joint : {p: 180, d: 0.9, i: 20}
FR_calf_joint : {p: 180, d: 0.9, i: 20}
RL_hip_joint : {p: 180, d: 0.9, i: 20}
RL_thigh_joint : {p: 180, d: 0.9, i: 20}
RL_calf_joint : {p: 180, d: 0.9, i: 20}
RR_hip_joint : {p: 180, d: 0.9, i: 20}
RR_thigh_joint : {p: 180, d: 0.9, i: 20}
RR_calf_joint : {p: 180, d: 0.9, i: 20}
| 1,119 | YAML | 30.999999 | 56 | 0.488829 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/a1_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 : 0.04
stance_depth : 0.0
stance_duration : 0.25
nominal_height : 0.2 | 256 | YAML | 22.363634 | 28 | 0.714844 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/a1_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/a1_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/a1_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/a1_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: 10.0 #5
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 | 312 | YAML | 19.866665 | 51 | 0.804487 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/a1_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/a1_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/open_quadruped_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 open_quadruped_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 open_quadruped_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch open_quadruped_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 open_quadruped_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch open_quadruped_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch open_quadruped_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 open_quadruped_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.* | 2,050 | Markdown | 25.636363 | 140 | 0.723902 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_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/open_quadruped_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(0.0915, 0.0394, 0.022, 0.0, 0.0, 0.0);
base.lf.upper_leg.setOrigin(0.0015, 0.045, -0.0087, 0.0, 0.0, 0.0);
base.lf.lower_leg.setOrigin(-0.005, 0.018, -0.109, 0.0, 0.0, 0.0);
base.lf.foot.setOrigin(0.0, 0.0, -0.1265, 0.0, 0.0, 0.0);
base.rf.hip.setOrigin(0.0915, -0.0394, 0.022, 0.0, 0.0, 0.0);
base.rf.upper_leg.setOrigin(0.0015, -0.045, -0.0087, 0.0, 0.0, 0.0);
base.rf.lower_leg.setOrigin(-0.005, -0.018, -0.109, 0.0, 0.0, 0.0);
base.rf.foot.setOrigin(0.0, 0.0, -0.1265, 0.0, 0.0, 0.0);
base.lh.hip.setOrigin(-0.1365, 0.0394, 0.022, 0.0, 0.0, 0.0);
base.lh.upper_leg.setOrigin(0.0015, 0.045, -0.0087, 0.0, 0.0, 0.0);
base.lh.lower_leg.setOrigin(-0.005, 0.018, -0.109, 0.0, 0.0, 0.0);
base.lh.foot.setOrigin(0.0, 0.0, -0.1265, 0.0, 0.0, 0.0);
base.rh.hip.setOrigin(-0.1365, -0.0394, 0.022, 0.0, 0.0, 0.0);
base.rh.upper_leg.setOrigin(0.0015, -0.045, -0.0087, 0.0, 0.0, 0.0);
base.rh.lower_leg.setOrigin(-0.005, -0.018, -0.109, 0.0, 0.0, 0.0);
base.rh.foot.setOrigin(0.0, 0.0, -0.1265, 0.0, 0.0, 0.0);
}
}
}
#endif | 1,313 | C | 37.647058 | 68 | 0.597106 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_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/open_quadruped_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 0.3
#define MAX_LINEAR_VELOCITY_Y 0.15
#define MAX_ANGULAR_VELOCITY_Z 1.0
#define COM_X_TRANSLATION -0.03
#define SWING_HEIGHT 0.02
#define STANCE_DEPTH 0.0
#define STANCE_DURATION 0.25
#define NOMINAL_HEIGHT 0.15
#endif | 458 | C | 27.687498 | 37 | 0.635371 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/config/links/links.yaml | base: base_link
left_front:
- front_left_hip
- front_left_upper_leg
- front_left_lower_leg
- front_left_foot
right_front:
- front_right_hip
- front_right_upper_leg
- front_right_lower_leg
- front_right_foot
left_hind:
- back_left_hip
- back_left_upper_leg
- back_left_lower_leg
- back_left_foot
right_hind:
- back_right_hip
- back_right_upper_leg
- back_right_lower_leg
- back_right_foot | 422 | YAML | 16.624999 | 25 | 0.672986 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_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:
- motor_front_left_hip
- motor_front_left_upper_leg
- motor_front_left_lower_leg
- motor_front_right_hip
- motor_front_right_upper_leg
- motor_front_right_lower_leg
- motor_back_left_hip
- motor_back_left_upper_leg
- motor_back_left_lower_leg
- motor_back_right_hip
- motor_back_right_upper_leg
- motor_back_right_lower_leg
gains:
motor_front_left_hip : {p: 180, d: 0.5, i: 20}
motor_front_left_upper_leg : {p: 180, d: 0.5, i: 20}
motor_front_left_lower_leg : {p: 180, d: 0.5, i: 20}
motor_front_right_hip : {p: 180, d: 0.5, i: 20}
motor_front_right_upper_leg : {p: 180, d: 0.5, i: 20}
motor_front_right_lower_leg : {p: 180, d: 0.5, i: 20}
motor_back_left_hip : {p: 180, d: 0.5, i: 20}
motor_back_left_upper_leg : {p: 180, d: 0.5, i: 20}
motor_back_left_lower_leg : {p: 180, d: 0.5, i: 20}
motor_back_right_hip : {p: 180, d: 0.5, i: 20}
motor_back_right_upper_leg : {p: 180, d: 0.5, i: 20}
motor_back_right_lower_leg : {p: 180, d: 0.5, i: 20}
| 1,383 | YAML | 38.542856 | 61 | 0.557484 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/config/gait/gait.yaml | knee_orientation : ">>"
pantograph_leg : false
odom_scaler: 1.15
max_linear_velocity_x : 0.3
max_linear_velocity_y : 0.15
max_angular_velocity_z : 1.0
com_x_translation : -0.03
swing_height : 0.02
stance_depth : 0.0
stance_duration : 0.25
nominal_height : 0.15 | 260 | YAML | 22.727271 | 28 | 0.715385 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/config/joints/joints.yaml | left_front:
- motor_front_left_hip
- motor_front_left_upper_leg
- motor_front_left_lower_leg
- front_left_leg_foot
right_front:
- motor_front_right_hip
- motor_front_right_upper_leg
- motor_front_right_lower_leg
- front_right_leg_foot
left_hind:
- motor_back_left_hip
- motor_back_left_upper_leg
- motor_back_left_lower_leg
- back_left_leg_foot
right_hind:
- motor_back_right_hip
- motor_back_right_upper_leg
- motor_back_right_lower_leg
- back_right_leg_foot | 494 | YAML | 20.521738 | 31 | 0.696356 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_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/open_quadruped_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: 0.3
min_vel_x: -0.025
max_vel_x: 0.3
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/open_quadruped_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/open_quadruped_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/open_quadruped_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/go1_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 go1_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 go1_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch go1_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 go1_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch go1_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch go1_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 go1_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.* | 1,973 | Markdown | 24.636363 | 139 | 0.716675 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/go1_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/go1_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(0.1881, 0.04675, 0.0, 0.0, 0.0, 0.0);
base.lf.upper_leg.setOrigin(0.0, 0.08, -0.0, 0.0, 0.0, 0.0);
base.lf.lower_leg.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0);
base.lf.foot.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0);
base.rf.hip.setOrigin(0.1881, -0.04675, 0.0, 0.0, 0.0, 0.0);
base.rf.upper_leg.setOrigin(0.0, -0.08, -0.0, 0.0, 0.0, 0.0);
base.rf.lower_leg.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0);
base.rf.foot.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0);
base.lh.hip.setOrigin(-0.1881, 0.04675, 0.0, 0.0, 0.0, 0.0);
base.lh.upper_leg.setOrigin(0.0, 0.08, -0.0, 0.0, 0.0, 0.0);
base.lh.lower_leg.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0);
base.lh.foot.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0);
base.rh.hip.setOrigin(-0.1881, -0.04675, 0.0, 0.0, 0.0, 0.0);
base.rh.upper_leg.setOrigin(0.0, -0.08, -0.0, 0.0, 0.0, 0.0);
base.rh.lower_leg.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0);
base.rh.foot.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0);
}
}
}
#endif | 1,255 | C | 35.941175 | 67 | 0.583267 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/go1_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/go1_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 0.28
#endif | 455 | C | 27.499998 | 37 | 0.635165 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/go1_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/go1_config/config/ros_control/ros_control.yaml | "":
joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 1
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: 7, i: 20}
FL_thigh_joint : {p: 180, d: 7, i: 20}
FL_calf_joint : {p: 180, d: 7, i: 20}
FR_hip_joint : {p: 180, d: 7, i: 20}
FR_thigh_joint : {p: 180, d: 7, i: 20}
FR_calf_joint : {p: 180, d: 7, i: 20}
RL_hip_joint : {p: 180, d: 7, i: 20}
RL_thigh_joint : {p: 180, d: 7, i: 20}
RL_calf_joint : {p: 180, d: 7, i: 20}
RR_hip_joint : {p: 180, d: 7, i: 20}
RR_thigh_joint : {p: 180, d: 7, i: 20}
RR_calf_joint : {p: 180, d: 7, i: 20}
| 1,094 | YAML | 30.285713 | 56 | 0.488117 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/go1_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 : 0.04
stance_depth : 0.0
stance_duration : 0.25
nominal_height : 0.28 | 257 | YAML | 22.454543 | 28 | 0.715953 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/go1_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/go1_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/go1_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/go1_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/go1_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/go1_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/astro_config/maps/octomap.yaml | image: octomap.pgm
resolution: 0.050000
origin: [-7.500000, -14.400000, 0.0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
| 129 | YAML | 15.249998 | 36 | 0.72093 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_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/astro_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(0.117, 0.0415, 0, 0, 0, 0);
base.lf.upper_leg.setOrigin(0, 0.05, -0.031, 0, 0, 0);
base.lf.lower_leg.setOrigin(0.0, 0, -0.078, 0, 0, 0);
base.lf.foot.setOrigin(0, 0, -0.108, 0, 0, 0);
base.rf.hip.setOrigin(0.117, -0.0415, 0, 0, 0, 0);
base.rf.upper_leg.setOrigin(0, -0.05, -0.031, 0, 0, 0);
base.rf.lower_leg.setOrigin(0.0, 0, -0.078, 0, 0, 0);
base.rf.foot.setOrigin(0, 0, -0.108, 0, 0, 0);
base.lh.hip.setOrigin(-0.117, 0.0415, 0, 0, 0, 0);
base.lh.upper_leg.setOrigin(0, 0.05, -0.031, 0, 0, 0);
base.lh.lower_leg.setOrigin(0.0, 0, -0.078, 0, 0, 0);
base.lh.foot.setOrigin(0, 0, -0.108, 0, 0, 0);
base.rh.hip.setOrigin(-0.117, -0.0415, 0, 0, 0, 0);
base.rh.upper_leg.setOrigin(0, -0.05, -0.031, 0, 0, 0);
base.rh.lower_leg.setOrigin(0, 0, -0.078, 0, 0, 0);
base.rh.foot.setOrigin(0, 0, -0.108, 0, 0, 0);
}
}
}
#endif | 1,266 | C | 36.264705 | 67 | 0.523697 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_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 2
#define LFU_PIN 3
#define LFL_PIN 4
#define RFH_PIN 23
#define RFU_PIN 22
#define RFL_PIN 21
#define LHH_PIN 6
#define LHU_PIN 7
#define LHL_PIN 8
#define RHH_PIN 17
#define RHU_PIN 16
#define RHL_PIN 14
#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
#endif | 1,929 | C | 18.693877 | 34 | 0.654743 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/include/gait_config.h | #ifndef GAIT_CONFIG_H
#define GAIT_CONFIG_H
#define KNEE_ORIENTATION "><"
#define PANTOGRAPH_LEG false
#define MAX_LINEAR_VELOCITY_X 0.20
#define MAX_LINEAR_VELOCITY_Y 0.10
#define MAX_ANGULAR_VELOCITY_Z 0.5
#define SWING_HEIGHT 0.010
#define STANCE_DEPTH 0.002
#define STANCE_DURATION 0.275
#define NOMINAL_HEIGHT 0.145
#endif | 389 | C | 26.857141 | 37 | 0.652956 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_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/astro_config/config/gait/gait.yaml | knee_orientation : "><"
pantograph_leg : false
max_linear_velocity_x : 0.20
max_linear_velocity_y : 0.10
max_angular_velocity_z : 0.5
swing_height : 0.010
stance_depth : 0.002
stance_duration : 0.275
nominal_height : 0.145 | 222 | YAML | 23.777775 | 28 | 0.725225 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/config/joints/joints.yaml | left_front:
- lf_hip_joint
- lf_upper_leg_joint
- lf_lower_leg_joint
right_front:
- rf_hip_joint
- rf_upper_leg_joint
- rf_lower_leg_joint
left_hind:
- lh_hip_joint
- lh_upper_leg_joint
- lh_lower_leg_joint
right_hind:
- rh_hip_joint
- rh_upper_leg_joint
- rh_lower_leg_joint | 302 | YAML | 14.947368 | 22 | 0.649007 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/config/navigation/costmap_common_params.yaml | obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.16, -0.12], [-0.16, 0.12], [0.16, 0.12], [0.16, -0.12]]
inflation_radius: 0.55
transform_tolerance: 0.5
observation_sources: scan
scan:
data_type: LaserScan
topic: scan
marking: true
clearing: true
map_type: costmap
| 282 | YAML | 17.866665 | 71 | 0.673759 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/config/navigation/base_local_planner_holonomic_params.yaml | DWAPlannerROS:
max_trans_vel: 0.2
min_trans_vel: 0.01
max_vel_x: 0.2
min_vel_x: -0.025
max_vel_y: 0.2
min_vel_y: -0.025
max_rot_vel: 0.5
min_rot_vel: -0.5
acc_lim_x: 0.5
acc_lim_y: 0.5
acc_lim_theta: 1.0
acc_lim_trans: 0.5
prune_plan: false
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.1
trans_stopped_vel: 0.1
rot_stopped_vel: 0.1
sim_time: 3.0
sim_granularity: 0.1
angular_sim_granularity: 0.1
path_distance_bias: 34.0
goal_distance_bias: 24.0
occdist_scale: 0.05
twirling_scale: 0.0
stop_time_buffer: 0.5
oscillation_reset_dist: 0.05
oscillation_reset_angle: 0.2
forward_point_distance: 0.3
scaling_speed: 0.25
max_scaling_factor: 0.2
vx_samples: 20
vy_samples: 0
vth_samples: 40
use_dwa: true
restore_defaults: true
| 794 | YAML | 18.875 | 30 | 0.65869 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/config/navigation/move_base_params.yaml | base_global_planner: global_planner/GlobalPlanner
base_local_planner: dwa_local_planner/DWAPlannerROS
shutdown_costmaps: false
controller_frequency: 5.0 #before 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 #distance from an obstacle at which it will unstuck itself
cost_factor: 1.0
neutral_cost: 55
lethal_cost: 253 | 431 | YAML | 21.736841 | 87 | 0.795824 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/config/navigation/global_costmap_params.yaml | global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 1.0 #before: 5.0
publish_frequency: 0.5 #before 0.5
static_map: true
transform_tolerance: 0.5
cost_scaling_factor: 10.0
inflation_radius: 0.55 | 243 | YAML | 26.111108 | 36 | 0.72428 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/config/navigation/local_costmap_params.yaml | local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 1.0 #before 5.0
publish_frequency: 2.0 #before 2.0
static_map: false
rolling_window: true
width: 2.5
height: 2.5
resolution: 0.05 #increase to for higher res 0.025
transform_tolerance: 0.5
cost_scaling_factor: 5
inflation_radius: 0.55 | 344 | YAML | 25.53846 | 52 | 0.715116 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_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 spotmicro_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 spotmicro_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch spotmicro_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 spotmicro_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch spotmicro_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch spotmicro_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 spotmicro_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/spotmicro_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/spotmicro_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(0.093, 0.0395, 0.0, 0.0, 0.0, 0.0);
base.lf.upper_leg.setOrigin(0.0, 0.055, -0.0, 0.0, 0.0, 0.0);
base.lf.lower_leg.setOrigin(0.014, 0.0, -0.109, 0.0, 0.0, 0.0);
base.lf.foot.setOrigin(0.0, 0.0, -0.13, 0, 0, 0);
base.rf.hip.setOrigin(0.093, -0.0395, 0.0, 0.0, 0.0, 0.0);
base.rf.upper_leg.setOrigin(0.0, -0.055, -0.0, 0.0, 0.0, 0.0);
base.rf.lower_leg.setOrigin(0.014, 0.0, -0.109, 0.0, 0.0, 0.0);
base.rf.foot.setOrigin(0.0, 0.0, -0.13, 0, 0, 0);
base.lh.hip.setOrigin(-0.093, 0.0395, 0.0, 0.0, 0.0, 0.0);
base.lh.upper_leg.setOrigin(0.0, 0.055, -0.0, 0.0, 0.0, 0.0);
base.lh.lower_leg.setOrigin(0.014, 0.0, -0.109, 0.0, 0.0, 0.0);
base.lh.foot.setOrigin(0.0, 0.0, -0.13, 0, 0, 0);
base.rh.hip.setOrigin(-0.093, -0.0395, 0.0, 0.0, 0.0, 0.0);
base.rh.upper_leg.setOrigin(0.0, -0.055, -0.0, 0.0, 0.0, 0.0);
base.rh.lower_leg.setOrigin(0.014, 0.0, -0.109, 0.0, 0.0, 0.0);
base.rh.foot.setOrigin(0.0, 0.0, -0.13, 0, 0, 0);
}
}
}
#endif | 1,231 | C | 35.235293 | 65 | 0.58489 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_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/spotmicro_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 0.02
#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/spotmicro_config/config/links/links.yaml | base: base_link
left_front:
- front_left_shoulder_link
- front_left_leg_link
- front_left_foot_link
- front_left_toe_link
right_front:
- front_right_shoulder_link
- front_right_leg_link
- front_right_foot_link
- front_right_toe_link
left_hind:
- rear_left_shoulder_link
- rear_left_leg_link
- rear_left_foot_link
- rear_left_toe_link
right_hind:
- rear_right_shoulder_link
- rear_right_leg_link
- rear_right_foot_link
- rear_right_toe_link | 474 | YAML | 18.791666 | 29 | 0.691983 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/config/ros_control/ros_control.yaml | "":
joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
joint_group_position_controller:
type: position_controllers/JointTrajectoryController
joints:
- front_left_shoulder
- front_left_leg
- front_left_foot
- front_right_shoulder
- front_right_leg
- front_right_foot
- rear_left_shoulder
- rear_left_leg
- rear_left_foot
- rear_right_shoulder
- rear_right_leg
- rear_right_foot
# Servomotors have inner control loops so PIDs are not needed
| 636 | YAML | 26.695651 | 67 | 0.59434 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/config/ros_control/hardware.yaml | "":
hardware_interface:
loop_hz: 200 # hz
joints:
- front_left_shoulder
- front_left_leg
- front_left_foot
- front_right_shoulder
- front_right_leg
- front_right_foot
- rear_left_shoulder
- rear_left_leg
- rear_left_foot
- rear_right_shoulder
- rear_right_leg
- rear_right_foot
| 387 | YAML | 20.555554 | 30 | 0.521964 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_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 : 0.02
stance_depth : 0.0
stance_duration : 0.25
nominal_height : 0.15 | 257 | YAML | 22.454543 | 28 | 0.715953 |
Subsets and Splits