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renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/a1_config/config.json | {
"urdf_path": "$(find a1_description)/urdf/a1.urdf",
"links": {
"right_hind": [
"RR_hip",
"RR_thigh",
"RR_calf",
"RR_foot"
],
"right_front": [
"FR_hip",
"FR_thigh",
"FR_calf",
"FR_foot"
],
"base": "base",
"left_hind": [
"RL_hip",
"RL_thigh",
"RL_calf",
"RL_foot"
],
"left_front": [
"FL_hip",
"FL_thigh",
"FL_calf",
"FL_foot"
]
},
"joints": {
"right_hind": [
"RR_hip_joint",
"RR_thigh_joint",
"RR_calf_joint",
"RR_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"
],
"left_front": [
"FL_hip_joint",
"FL_thigh_joint",
"FL_calf_joint",
"FL_foot_fixed"
]
},
"firmware": {
"transforms": {
"right_hind": {
"hip": [
-0.1805,
-0.047,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
-0.0838,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.2,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.2,
0.0,
0.0,
0.0
]
},
"right_front": {
"hip": [
0.1805,
-0.047,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
-0.0838,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.2,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.2,
0.0,
0.0,
0.0
]
},
"left_hind": {
"hip": [
-0.1805,
0.047,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
0.0838,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.2,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.2,
0.0,
0.0,
0.0
]
},
"left_front": {
"hip": [
0.1805,
0.047,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
0.0838,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.2,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.2,
0.0,
0.0,
0.0
]
}
},
"gait": {
"max_linear_vel_y": 0.25,
"max_linear_vel_x": 0.5,
"nominal_height": 0.2,
"stance_depth": 0.0,
"swing_height": 0.04,
"knee_orientation": ">>",
"odom_scaler": 1.0,
"stance_duration": 0.25,
"pantograph_leg": "false",
"com_x_translation": 0.0,
"max_angular_vel_z": 1.0
}
},
"default_urdf": "False",
"robot_name": "a1"
} |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/a1_config/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(a1_config)
find_package(catkin REQUIRED COMPONENTS)
catkin_package() |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/a1_config/setup.bash | #!/usr/bin/env bash
ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include
bash -i |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/a1_config/package.xml | <?xml version="1.0"?>
<package format="2">
<name>a1_config</name>
<version>0.1.0</version>
<description>a1 Champ Config Package</description>
<maintainer email="[email protected]">Juan Miguel Jimeno</maintainer>
<author>Juan Miguel Jimeno</author>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roslaunch</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>champ_base</exec_depend>
</package> |
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.* |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/a1_config/launch/bringup.launch | <launch>
<arg name="robot_name" default="/a1"/> <!-- Change this for namespacing. -->
<arg name="base_frame" default="base"/> <!-- Link name of floating base. Do not touch this. -->
<arg name="joints_map_file" default="$(find a1_config)/config/joints/joints.yaml"/> <!--Path to list of joint names. Do not touch this. -->
<arg name="links_map_file" default="$(find a1_config)/config/links/links.yaml"/> <!-- Path to list of link names. Do not touch this. -->
<arg name="gait_config_file" default="$(find a1_config)/config/gait/gait.yaml"/> <!-- Path to gait parameters. Do not touch this. -->
<arg name="description_file" default="$(find a1_description)/urdf/a1.urdf"/> <!-- Path to URDF file Do not touch this. -->
<arg name="gazebo" default="true" /> <!-- Set to true during simulation. This is auto-set to true from gazebo.launch. -->
<arg name="rviz" default="true"/> <!-- Set to true to run rviz in parallel. -->
<arg name="rviz_ref_frame" default="odom"/> <!-- Default RVIZ reference frame. -->
<arg name="has_imu" default="true" /> <!-- Set to true if you want to visualize robot but there's no IMU. Only useful for microcontrollers. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="close_loop_odom" default="false" /> <!-- Set to true if you want to calculate odometry using close loop. This is auto-set to true from gazebo.launch. -->
<arg name="publish_foot_contacts" default="true" /> <!-- Set to true if you want the controller to publish the foot contact states. This is auto-set to false from gazebo.launch. -->
<arg name="publish_joint_control" default="true" /> <!-- Set to true if you want the controller to publish the joint_states topic. This is auto-set to false from gazebo.launch. -->
<arg name="laser" default="sim"/> <!-- Set to the 2D LIDAR you're using. See https://github.com/chvmp/champ/tree/master/champ_bringup/launch/include/laser .-->
<arg name="joint_controller_topic" default="joint_group_position_controller/command" /> <!-- Change to remap command topic for actuator controller (ROS control). -->
<arg name="hardware_connected" default="false" /> <!-- Flag useful to launch hardware connected launch files. This auto disables publishing joint_states. -->
<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
<include file="$(find champ_bringup)/launch/bringup.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="base_frame" value="$(arg base_frame)"/>
<arg name="joints_map_file" value="$(arg joints_map_file)"/>
<arg name="links_map_file" value="$(arg links_map_file)"/>
<arg name="gait_config_file" value="$(arg gait_config_file)"/>
<arg name="description_file" value="$(arg description_file)"/>
<arg name="has_imu" value="$(arg has_imu)"/>
<arg name="gazebo" value="$(arg gazebo)"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="laser" value="$(arg laser)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="rviz_ref_frame" value="$(arg frame_prefix)$(arg rviz_ref_frame)"/>
<arg name="joint_controller_topic" value="$(arg joint_controller_topic)" />
<arg name="hardware_connected" value="$(arg hardware_connected)" />
<arg name="publish_foot_contacts" value="$(arg publish_foot_contacts)" />
<arg name="publish_joint_control" value="$(arg publish_joint_control)" />
<arg name="close_loop_odom" value="$(arg close_loop_odom)" />
</include>
<group if="$(arg hardware_connected)">
<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_laser" args="0 0 0 0 0 0 $(arg frame_prefix)base $(arg frame_prefix)laser" />
<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_imu" args="0 0 0 0 0 0 $(arg frame_prefix)base $(arg frame_prefix)imu_link" />
<!-- include your hardware launch file here -->
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/a1_config/launch/navigate.launch | <launch>
<arg name="robot_name" default="/a1"/>
<arg name="rviz" default="false"/>
<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
<group ns="$(arg robot_name)">
<!-- Map server -->
<arg name="map_file" default="$(find a1_config)/maps/map.yaml"/>
<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)" >
<param name="frame_id" value="$(arg frame_prefix)map" />
</node>
<!-- AMCL used for localization -->
<include file="$(find a1_config)/launch/include/amcl.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack -->
<include file="$(find a1_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
<arg name="robot_name" value="$(arg robot_name)"/>
</include>
<node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz"
args="-d $(find champ_navigation)/rviz/navigate.rviz -f $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/a1_config/launch/gazebo.launch | <launch>
<arg name="robot_name" default="/a1"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find a1_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find a1_config)/worlds/outdoor.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="gui" default="true"/>
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find a1_config)/launch/bringup.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="gazebo" value="true"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="joint_controller_topic" value="joint_group_position_controller/command"/>
<arg name="hardware_connected" value="false"/>
<arg name="publish_foot_contacts" value="false"/>
<arg name="close_loop_odom" value="true"/>
</include>
<include file="$(find champ_gazebo)/launch/gazebo.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="ros_control_file" value="$(arg ros_control_file)"/>
<arg name="gazebo_world" value="$(arg gazebo_world)"/>
<arg name="world_init_x" value="$(arg world_init_x)" />
<arg name="world_init_y" value="$(arg world_init_y)" />
<arg name="world_init_heading" value="$(arg world_init_heading)" />
<arg name="gui" value="$(arg gui)" />
</include>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/a1_config/launch/slam.launch | <launch>
<arg name="robot_name" default="/a1"/>
<arg name="rviz" default="false"/>
<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
<group ns="$(arg robot_name)">
<include file="$(find a1_config)/launch/include/gmapping.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack packages -->
<include file="$(find a1_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
<arg name="robot_name" value="$(arg robot_name)"/>
</include>
<node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz"
args="-d $(find champ_navigation)/rviz/navigate.rviz -f $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/a1_config/launch/spawn_robot.launch | <launch>
<arg name="robot_name" default="/a1"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find a1_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find a1_config)/worlds/outdoor.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find a1_config)/launch/bringup.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="gazebo" value="true"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="joint_controller_topic" value="joint_group_position_controller/command"/>
<arg name="hardware_connected" value="false"/>
<arg name="publish_foot_contacts" value="false"/>
<arg name="close_loop_odom" value="true"/>
</include>
<include file="$(find champ_gazebo)/launch/spawn_robot.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="ros_control_file" value="$(arg ros_control_file)"/>
<arg name="world_init_x" value="$(arg world_init_x)" />
<arg name="world_init_y" value="$(arg world_init_y)" />
<arg name="world_init_heading" value="$(arg world_init_heading)" />
</include>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/a1_config/launch/include/gmapping.launch | <launch>
<arg name="frame_prefix" default=""/>
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<param name="base_frame" value="$(arg frame_prefix)base_footprint" />
<param name="odom_frame" value="$(arg frame_prefix)odom" />
<param name="map_frame" value="/$(arg frame_prefix)map" />
<param name="map_update_interval" value="15.0"/>
<param name="maxUrange" value="5.0"/>
<param name="minRange" value="-0.5"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="minimumScore" value="100"/>
<param name="srr" value="0.01"/>
<param name="srt" value="0.02"/>
<param name="str" value="0.01"/>
<param name="stt" value="0.02"/>
<param name="linearUpdate" value="0.7"/>
<param name="angularUpdate" value="0.7"/>
<param name="temporalUpdate" value="-0.5"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="50"/>
<param name="xmin" value="-50.0"/>
<param name="ymin" value="-50.0"/>
<param name="xmax" value="50.0"/>
<param name="ymax" value="50.0"/>
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.05"/>
<param name="llsamplestep" value="0.05"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<param name="transform_publish_period" value="0.1"/>
</node>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/a1_config/launch/include/amcl.launch | <launch>
<arg name="frame_prefix" default=""/>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<param name="initial_pose_a" value="0.0"/>
<param name="use_map_topic" value="false"/> <!--true-->
<param name="base_frame_id" value="$(arg frame_prefix)base_footprint"/>
<param name="odom_frame_id" value="$(arg frame_prefix)odom"/>
<param name="global_frame_id" value="$(arg frame_prefix)map"/>
<param name="transform_broadcast" value="true"/>
<param name="gui_publish_rate" value="10.0"/> <!-- Maximum rate (Hz) at which scans and paths are published for visualization, -1.0 to disable. -->
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="laser_max_beams" value="60"/>
<param name="laser_model_type" value="likelihood_field_prob"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="max_particles" value="2000"/>
<param name="min_particles" value="500"/>
<param name="odom_alpha1" value="0.5"/> <!-- Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion. -->
<param name="odom_alpha2" value="0.5"/> <!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
<param name="odom_alpha3" value="0.5"/> <!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
<param name="odom_alpha4" value="0.5"/> <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
<param name="odom_alpha5" value="0.5"/> <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
<param name="odom_model_type" value="omni"/>
<param name="recovery_alpha_slow" value="0.001"/> <!-- Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. -->
<param name="recovery_alpha_fast" value="0.1"/> <!-- Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. -->
<param name="resample_interval" value="1"/> <!-- Number of filter updates required before resampling. -->
<param name="transform_tolerance" value="1.25"/> <!-- Default 0.1; time with which to post-date the transform that is published, to indicate that this transform is valid into the future. -->
<param name="update_min_a" value="0.2"/> <!-- Rotational movement required before performing a filter update. 0.1 represents 5.7 degrees -->
<param name="update_min_d" value="0.2"/> <!-- Translational movement required before performing a filter update. -->
</node>
</launch>
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/a1_config/launch/include/move_base.launch | <launch>
<arg name="frame_prefix" default=""/>
<arg name="robot_name" default=""/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find a1_config)/config/move_base/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find a1_config)/config/move_base/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find a1_config)/config/move_base/local_costmap_params.yaml" command="load" />
<rosparam file="$(find a1_config)/config/move_base/global_costmap_params.yaml" command="load" />
<rosparam file="$(find a1_config)/config/move_base/base_local_planner_holonomic_params.yaml" command="load" />
<rosparam file="$(find a1_config)/config/move_base/move_base_params.yaml" command="load" />
<!-- explicitly define frame ids for movebase -->
<param name="global_costmap/global_frame" value="$(arg frame_prefix)map"/>
<param name="global_costmap/robot_base_frame" value="$(arg frame_prefix)base_footprint"/>
<param name="global_costmap/2d_obstacles_layer/scan/topic" value="$(arg robot_name)scan"/>
<param name="global_costmap/3d_obstacles_layer/depth/topic" value="$(arg robot_name)camera/depth/points"/>
<param name="local_costmap/global_frame" value="$(arg frame_prefix)odom"/>
<param name="local_costmap/robot_base_frame" value="$(arg frame_prefix)base_footprint"/>
<param name="local_costmap/2d_obstacles_layer/scan/topic" value="$(arg robot_name)scan"/>
<param name="local_costmap/3d_obstacles_layer/depth/topic" value="$(arg robot_name)camera/depth/points"/>
<param name="GlobalPlanner/use_dijkstra " value="true" />
</node>
</launch> |
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
|
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 |
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 |
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 |
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 |
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}
|
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 |
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 |
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 |
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
|
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 |
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"}
|
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"}
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/config.json | {
"urdf_path": "$(find mini_ros)/urdf/spot_accessories.urdf",
"links": {
"right_hind": [
"back_right_hip",
"back_right_upper_leg",
"back_right_lower_leg",
"back_right_foot"
],
"right_front": [
"front_right_hip",
"front_right_upper_leg",
"front_right_lower_leg",
"front_right_foot"
],
"base": "base_link",
"left_hind": [
"back_left_hip",
"back_left_upper_leg",
"back_left_lower_leg",
"back_left_foot"
],
"left_front": [
"front_left_hip",
"front_left_upper_leg",
"front_left_lower_leg",
"front_left_foot"
]
},
"joints": {
"right_hind": [
"motor_back_right_hip",
"motor_back_right_upper_leg",
"motor_back_right_lower_leg",
"back_right_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"
],
"left_front": [
"motor_front_left_hip",
"motor_front_left_upper_leg",
"motor_front_left_lower_leg",
"front_left_leg_foot"
]
},
"firmware": {
"transforms": {
"right_hind": {
"hip": [
-0.1365,
-0.0394,
0.022,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0015,
-0.045,
-0.0087,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.1265,
0.0,
0.0,
0.0
],
"lower_leg": [
-0.005,
-0.018,
-0.109,
0.0,
0.0,
0.0
]
},
"right_front": {
"hip": [
0.0915,
-0.0394,
0.022,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0015,
-0.045,
-0.0087,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.1265,
0.0,
0.0,
0.0
],
"lower_leg": [
-0.005,
-0.018,
-0.109,
0.0,
0.0,
0.0
]
},
"left_hind": {
"hip": [
-0.1365,
0.0394,
0.022,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0015,
0.045,
-0.0087,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.1265,
0.0,
0.0,
0.0
],
"lower_leg": [
-0.005,
0.018,
-0.109,
0.0,
0.0,
0.0
]
},
"left_front": {
"hip": [
0.0915,
0.0394,
0.022,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0015,
0.045,
-0.0087,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.1265,
0.0,
0.0,
0.0
],
"lower_leg": [
-0.005,
0.018,
-0.109,
0.0,
0.0,
0.0
]
}
},
"gait": {
"swing_height": 0.02,
"max_linear_vel_y": 0.15,
"max_linear_vel_x": 0.3,
"nominal_height": 0.15,
"knee_orientation": ">>",
"max_angular_vel_z": 1.0,
"stance_duration": 0.25,
"com_x_translation": -0.03,
"stance_depth": 0.0,
"pantograph_leg": "false",
"odom_scaler": 1.0
}
},
"default_urdf": "False",
"robot_name": "open_quadruped"
} |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(open_quadruped_config)
find_package(catkin REQUIRED COMPONENTS)
catkin_package() |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/setup.bash | #!/usr/bin/env bash
ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include
bash -i |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/package.xml | <?xml version="1.0"?>
<package format="2">
<name>open_quadruped_config</name>
<version>0.1.0</version>
<description>open_quadruped Champ Config Package</description>
<maintainer email="[email protected]">Juan Miguel Jimeno</maintainer>
<author>Juan Miguel Jimeno</author>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roslaunch</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>champ_base</exec_depend>
</package> |
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.* |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/launch/bringup.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="base_frame" default="base_link"/> <!-- Link name of floating base. Do not touch this. -->
<arg name="joints_map_file" default="$(find open_quadruped_config)/config/joints/joints.yaml"/> <!--Path to list of joint names. Do not touch this. -->
<arg name="links_map_file" default="$(find open_quadruped_config)/config/links/links.yaml"/> <!-- Path to list of link names. Do not touch this. -->
<arg name="gait_config_file" default="$(find open_quadruped_config)/config/gait/gait.yaml"/> <!-- Path to gait parameters. Do not touch this. -->
<arg name="description_file" default="$(find mini_ros)/urdf/spot_accessories.urdf"/> <!-- Path to URDF file Do not touch this. -->
<arg name="gazebo" default="false" /> <!-- Set to true during simulation. This is auto-set to true from gazebo.launch. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="rviz_ref_frame" default="odom"/> <!-- Default RVIZ reference frame. -->
<arg name="has_imu" default="true" /> <!-- Set to true if you want to visualize robot but there's no IMU. Only useful for microcontrollers. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="close_loop_odom" default="false" /> <!-- Set to true if you want to calculate odometry using close loop. This is auto-set to true from gazebo.launch. -->
<arg name="publish_foot_contacts" default="true" /> <!-- Set to true if you want the controller to publish the foot contact states. This is auto-set to false from gazebo.launch. -->
<arg name="publish_joint_control" default="true" /> <!-- Set to true if you want the controller to publish the joint_states topic. This is auto-set to false from gazebo.launch. -->
<arg name="laser" default="sim"/> <!-- Set to the 2D LIDAR you're using. See https://github.com/chvmp/champ/tree/master/champ_bringup/launch/include/laser .-->
<arg name="joint_controller_topic" default="joint_group_position_controller/command" /> <!-- Change to remap command topic for actuator controller (ROS control). -->
<arg name="hardware_connected" default="false" /> <!-- Flag useful to launch hardware connected launch files. This auto disables publishing joint_states. -->
<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
<include file="$(find champ_bringup)/launch/bringup.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="base_frame" value="$(arg base_frame)"/>
<arg name="joints_map_file" value="$(arg joints_map_file)"/>
<arg name="links_map_file" value="$(arg links_map_file)"/>
<arg name="gait_config_file" value="$(arg gait_config_file)"/>
<arg name="description_file" value="$(arg description_file)"/>
<arg name="has_imu" value="$(arg has_imu)"/>
<arg name="gazebo" value="$(arg gazebo)"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="laser" value="$(arg laser)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="rviz_ref_frame" value="$(arg frame_prefix)$(arg rviz_ref_frame)"/>
<arg name="joint_controller_topic" value="$(arg joint_controller_topic)" />
<arg name="hardware_connected" value="$(arg hardware_connected)" />
<arg name="publish_foot_contacts" value="$(arg publish_foot_contacts)" />
<arg name="publish_joint_control" value="$(arg publish_joint_control)" />
<arg name="close_loop_odom" value="$(arg close_loop_odom)" />
</include>
<group if="$(arg hardware_connected)">
<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_laser" args="0 0 0 0 0 0 $(arg frame_prefix)base_link $(arg frame_prefix)laser" />
<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_imu" args="0 0 0 0 0 0 $(arg frame_prefix)base_link $(arg frame_prefix)imu_link" />
<!-- include your hardware launch file here -->
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/launch/navigate.launch | <launch>
<arg name="robot_name" default="/"/>
<arg name="rviz" default="false"/>
<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
<group ns="$(arg robot_name)">
<!-- Map server -->
<arg name="map_file" default="$(find open_quadruped_config)/maps/map.yaml"/>
<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)" >
<param name="frame_id" value="$(arg frame_prefix)map" />
</node>
<!-- AMCL used for localization -->
<include file="$(find open_quadruped_config)/launch/include/amcl.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack -->
<include file="$(find open_quadruped_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
<arg name="robot_name" value="$(arg robot_name)"/>
</include>
<node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz"
args="-d $(find champ_navigation)/rviz/navigate.rviz -f $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/launch/gazebo.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find open_quadruped_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find open_quadruped_config)/worlds/outdoor.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="gui" default="true"/>
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find open_quadruped_config)/launch/bringup.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="gazebo" value="true"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="joint_controller_topic" value="joint_group_position_controller/command"/>
<arg name="hardware_connected" value="false"/>
<arg name="publish_foot_contacts" value="false"/>
<arg name="close_loop_odom" value="true"/>
</include>
<include file="$(find champ_gazebo)/launch/gazebo.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="ros_control_file" value="$(arg ros_control_file)"/>
<arg name="gazebo_world" value="$(arg gazebo_world)"/>
<arg name="world_init_x" value="$(arg world_init_x)" />
<arg name="world_init_y" value="$(arg world_init_y)" />
<arg name="world_init_heading" value="$(arg world_init_heading)" />
<arg name="gui" value="$(arg gui)" />
</include>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/launch/slam.launch | <launch>
<arg name="robot_name" default="/"/>
<arg name="rviz" default="false"/>
<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
<group ns="$(arg robot_name)">
<include file="$(find open_quadruped_config)/launch/include/gmapping.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack packages -->
<include file="$(find open_quadruped_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
<arg name="robot_name" value="$(arg robot_name)"/>
</include>
<node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz"
args="-d $(find champ_navigation)/rviz/navigate.rviz -f $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/launch/spawn_robot.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find open_quadruped_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find open_quadruped_config)/worlds/outdoor.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find open_quadruped_config)/launch/bringup.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="gazebo" value="true"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="joint_controller_topic" value="joint_group_position_controller/command"/>
<arg name="hardware_connected" value="false"/>
<arg name="publish_foot_contacts" value="false"/>
<arg name="close_loop_odom" value="true"/>
</include>
<include file="$(find champ_gazebo)/launch/spawn_robot.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="ros_control_file" value="$(arg ros_control_file)"/>
<arg name="world_init_x" value="$(arg world_init_x)" />
<arg name="world_init_y" value="$(arg world_init_y)" />
<arg name="world_init_heading" value="$(arg world_init_heading)" />
</include>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/launch/include/gmapping.launch | <launch>
<arg name="frame_prefix" default=""/>
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<param name="base_frame" value="$(arg frame_prefix)base_footprint" />
<param name="odom_frame" value="$(arg frame_prefix)odom" />
<param name="map_frame" value="/$(arg frame_prefix)map" />
<param name="map_update_interval" value="15.0"/>
<param name="maxUrange" value="5.0"/>
<param name="minRange" value="-0.5"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="minimumScore" value="100"/>
<param name="srr" value="0.01"/>
<param name="srt" value="0.02"/>
<param name="str" value="0.01"/>
<param name="stt" value="0.02"/>
<param name="linearUpdate" value="0.7"/>
<param name="angularUpdate" value="0.7"/>
<param name="temporalUpdate" value="-0.5"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="50"/>
<param name="xmin" value="-50.0"/>
<param name="ymin" value="-50.0"/>
<param name="xmax" value="50.0"/>
<param name="ymax" value="50.0"/>
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.05"/>
<param name="llsamplestep" value="0.05"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<param name="transform_publish_period" value="0.1"/>
</node>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/launch/include/amcl.launch | <launch>
<arg name="frame_prefix" default=""/>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<param name="initial_pose_a" value="0.0"/>
<param name="use_map_topic" value="true"/>
<param name="base_frame_id" value="$(arg frame_prefix)base_footprint"/>
<param name="odom_frame_id" value="$(arg frame_prefix)odom"/>
<param name="global_frame_id" value="$(arg frame_prefix)map"/>
<param name="transform_broadcast" value="true"/>
<param name="gui_publish_rate" value="10.0"/> <!-- Maximum rate (Hz) at which scans and paths are published for visualization, -1.0 to disable. -->
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="laser_max_beams" value="60"/>
<param name="laser_model_type" value="likelihood_field_prob"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="max_particles" value="2000"/>
<param name="min_particles" value="500"/>
<param name="odom_alpha1" value="0.5"/> <!-- Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion. -->
<param name="odom_alpha2" value="0.5"/> <!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
<param name="odom_alpha3" value="0.5"/> <!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
<param name="odom_alpha4" value="0.5"/> <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
<param name="odom_alpha5" value="0.5"/> <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
<param name="odom_model_type" value="omni"/>
<param name="recovery_alpha_slow" value="0.001"/> <!-- Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. -->
<param name="recovery_alpha_fast" value="0.1"/> <!-- Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. -->
<param name="resample_interval" value="1"/> <!-- Number of filter updates required before resampling. -->
<param name="transform_tolerance" value="1.25"/> <!-- Default 0.1; time with which to post-date the transform that is published, to indicate that this transform is valid into the future. -->
<param name="update_min_a" value="0.2"/> <!-- Rotational movement required before performing a filter update. 0.1 represents 5.7 degrees -->
<param name="update_min_d" value="0.2"/> <!-- Translational movement required before performing a filter update. -->
</node>
</launch>
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/launch/include/move_base.launch | <launch>
<arg name="frame_prefix" default=""/>
<arg name="robot_name" default=""/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find open_quadruped_config)/config/move_base/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find open_quadruped_config)/config/move_base/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find open_quadruped_config)/config/move_base/local_costmap_params.yaml" command="load" />
<rosparam file="$(find open_quadruped_config)/config/move_base/global_costmap_params.yaml" command="load" />
<rosparam file="$(find open_quadruped_config)/config/move_base/base_local_planner_holonomic_params.yaml" command="load" />
<rosparam file="$(find open_quadruped_config)/config/move_base/move_base_params.yaml" command="load" />
<!-- explicitly define frame ids for movebase -->
<param name="global_costmap/global_frame" value="$(arg frame_prefix)map"/>
<param name="global_costmap/robot_base_frame" value="$(arg frame_prefix)base_footprint"/>
<param name="global_costmap/2d_obstacles_layer/scan/topic" value="$(arg robot_name)scan"/>
<param name="global_costmap/3d_obstacles_layer/depth/topic" value="$(arg robot_name)camera/depth/points"/>
<param name="local_costmap/global_frame" value="$(arg frame_prefix)odom"/>
<param name="local_costmap/robot_base_frame" value="$(arg frame_prefix)base_footprint"/>
<param name="local_costmap/2d_obstacles_layer/scan/topic" value="$(arg robot_name)scan"/>
<param name="local_costmap/3d_obstacles_layer/depth/topic" value="$(arg robot_name)camera/depth/points"/>
</node>
</launch> |
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
|
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 |
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 |
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 |
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 |
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}
|
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 |
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 |
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 |
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
|
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 |
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"}
|
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"}
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/go1_config/config.json | {
"robot_name": "go1",
"default_urdf": "False",
"urdf_path": "$(find go1_description)/xacro/robot.urdf",
"links": {
"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"
]
},
"joints": {
"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"
]
},
"firmware": {
"transforms": {
"left_front": {
"hip": [
0.1881,
0.04675,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
0.08,
-0.0,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.213,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.213,
0.0,
0.0,
0.0
]
},
"right_front": {
"hip": [
0.1881,
-0.04675,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
-0.08,
-0.0,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.213,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.213,
0.0,
0.0,
0.0
]
},
"left_hind": {
"hip": [
-0.1881,
0.04675,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
0.08,
-0.0,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.213,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.213,
0.0,
0.0,
0.0
]
},
"right_hind": {
"hip": [
-0.1881,
-0.04675,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
-0.08,
-0.0,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.213,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.213,
0.0,
0.0,
0.0
]
}
},
"gait": {
"knee_orientation": ">>",
"odom_scaler": 1.0,
"max_linear_vel_x": 0.5,
"max_linear_vel_y": 0.25,
"max_angular_vel_z": 1.0,
"stance_duration": 0.25,
"com_x_translation": 0.0,
"swing_height": 0.04,
"stance_depth": 0.0,
"nominal_height": 0.2,
"pantograph_leg": "false"
}
}
} |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/go1_config/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(go1_config)
find_package(catkin REQUIRED COMPONENTS)
catkin_package() |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/go1_config/setup.bash | #!/usr/bin/env bash
ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include
bash -i |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/go1_config/package.xml | <?xml version="1.0"?>
<package format="2">
<name>go1_config</name>
<version>0.1.0</version>
<description>go1 Champ Config Package</description>
<maintainer email="[email protected]">Juan Miguel Jimeno</maintainer>
<author>Juan Miguel Jimeno</author>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roslaunch</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>champ_base</exec_depend>
</package> |
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.* |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/go1_config/launch/bringup.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="base_frame" default="base"/> <!-- Link name of floating base. Do not touch this. -->
<arg name="joints_map_file" default="$(find go1_config)/config/joints/joints.yaml"/> <!--Path to list of joint names. Do not touch this. -->
<arg name="links_map_file" default="$(find go1_config)/config/links/links.yaml"/> <!-- Path to list of link names. Do not touch this. -->
<arg name="gait_config_file" default="$(find go1_config)/config/gait/gait.yaml"/> <!-- Path to gait parameters. Do not touch this. -->
<arg name="description_file" default="$(find go1_description)/xacro/go1.champ.urdf"/> <!-- Path to URDF file Do not touch this. -->
<arg name="gazebo" default="false" /> <!-- Set to true during simulation. This is auto-set to true from gazebo.launch. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="rviz_ref_frame" default="odom"/> <!-- Default RVIZ reference frame. -->
<arg name="has_imu" default="true" /> <!-- Set to true if you want to visualize robot but there's no IMU. Only useful for microcontrollers. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="close_loop_odom" default="false" /> <!-- Set to true if you want to calculate odometry using close loop. This is auto-set to true from gazebo.launch. -->
<arg name="publish_foot_contacts" default="true" /> <!-- Set to true if you want the controller to publish the foot contact states. This is auto-set to false from gazebo.launch. -->
<arg name="publish_joint_control" default="true" /> <!-- Set to true if you want the controller to publish the joint_states topic. This is auto-set to false from gazebo.launch. -->
<arg name="laser" default="sim"/> <!-- Set to the 2D LIDAR you're using. See https://github.com/chvmp/champ/tree/master/champ_bringup/launch/include/laser .-->
<arg name="joint_controller_topic" default="joint_group_position_controller/command" /> <!-- Change to remap command topic for actuator controller (ROS control). -->
<arg name="hardware_connected" default="false" /> <!-- Flag useful to launch hardware connected launch files. This auto disables publishing joint_states. -->
<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
<include file="$(find champ_bringup)/launch/bringup.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="base_frame" value="$(arg base_frame)"/>
<arg name="joints_map_file" value="$(arg joints_map_file)"/>
<arg name="links_map_file" value="$(arg links_map_file)"/>
<arg name="gait_config_file" value="$(arg gait_config_file)"/>
<arg name="description_file" value="$(arg description_file)"/>
<arg name="has_imu" value="$(arg has_imu)"/>
<arg name="gazebo" value="$(arg gazebo)"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="laser" value="$(arg laser)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="rviz_ref_frame" value="$(arg frame_prefix)$(arg rviz_ref_frame)"/>
<arg name="joint_controller_topic" value="$(arg joint_controller_topic)" />
<arg name="hardware_connected" value="$(arg hardware_connected)" />
<arg name="publish_foot_contacts" value="$(arg publish_foot_contacts)" />
<arg name="publish_joint_control" value="$(arg publish_joint_control)" />
<arg name="close_loop_odom" value="$(arg close_loop_odom)" />
</include>
<group if="$(arg hardware_connected)">
<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_laser" args="0 0 0 0 0 0 $(arg frame_prefix)base $(arg frame_prefix)laser" />
<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_imu" args="0 0 0 0 0 0 $(arg frame_prefix)base $(arg frame_prefix)imu_link" />
<!-- include your hardware launch file here -->
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/go1_config/launch/navigate.launch | <launch>
<arg name="robot_name" default="/"/>
<arg name="rviz" default="false"/>
<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
<group ns="$(arg robot_name)">
<!-- Map server -->
<arg name="map_file" default="$(find go1_config)/maps/map.yaml"/>
<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)" >
<param name="frame_id" value="$(arg frame_prefix)map" />
</node>
<!-- AMCL used for localization -->
<include file="$(find go1_config)/launch/include/amcl.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack -->
<include file="$(find go1_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
<arg name="robot_name" value="$(arg robot_name)"/>
</include>
<node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz"
args="-d $(find champ_navigation)/rviz/navigate.rviz -f $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/go1_config/launch/gazebo.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find go1_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find go1_config)/worlds/playground.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="gui" default="true"/>
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find go1_config)/launch/bringup.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="gazebo" value="true"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="joint_controller_topic" value="joint_group_position_controller/command"/>
<arg name="hardware_connected" value="false"/>
<arg name="publish_foot_contacts" value="false"/>
<arg name="close_loop_odom" value="true"/>
</include>
<include file="$(find champ_gazebo)/launch/gazebo.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="ros_control_file" value="$(arg ros_control_file)"/>
<arg name="gazebo_world" value="$(arg gazebo_world)"/>
<arg name="world_init_x" value="$(arg world_init_x)" />
<arg name="world_init_y" value="$(arg world_init_y)" />
<arg name="world_init_heading" value="$(arg world_init_heading)" />
<arg name="gui" value="$(arg gui)" />
</include>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/go1_config/launch/slam.launch | <launch>
<arg name="robot_name" default="/"/>
<arg name="rviz" default="false"/>
<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
<group ns="$(arg robot_name)">
<include file="$(find go1_config)/launch/include/gmapping.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack packages -->
<include file="$(find go1_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
<arg name="robot_name" value="$(arg robot_name)"/>
</include>
<node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz"
args="-d $(find champ_navigation)/rviz/navigate.rviz -f $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/go1_config/launch/spawn_robot.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find go1_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find go1_config)/worlds/outdoor.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find go1_config)/launch/bringup.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="gazebo" value="true"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="joint_controller_topic" value="joint_group_position_controller/command"/>
<arg name="hardware_connected" value="false"/>
<arg name="publish_foot_contacts" value="false"/>
<arg name="close_loop_odom" value="true"/>
</include>
<include file="$(find champ_gazebo)/launch/spawn_robot.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="ros_control_file" value="$(arg ros_control_file)"/>
<arg name="world_init_x" value="$(arg world_init_x)" />
<arg name="world_init_y" value="$(arg world_init_y)" />
<arg name="world_init_heading" value="$(arg world_init_heading)" />
</include>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/go1_config/launch/include/gmapping.launch | <launch>
<arg name="frame_prefix" default=""/>
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<param name="base_frame" value="$(arg frame_prefix)base_footprint" />
<param name="odom_frame" value="$(arg frame_prefix)odom" />
<param name="map_frame" value="/$(arg frame_prefix)map" />
<param name="map_update_interval" value="15.0"/>
<param name="maxUrange" value="5.0"/>
<param name="minRange" value="-0.5"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="minimumScore" value="100"/>
<param name="srr" value="0.01"/>
<param name="srt" value="0.02"/>
<param name="str" value="0.01"/>
<param name="stt" value="0.02"/>
<param name="linearUpdate" value="0.7"/>
<param name="angularUpdate" value="0.7"/>
<param name="temporalUpdate" value="-0.5"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="50"/>
<param name="xmin" value="-50.0"/>
<param name="ymin" value="-50.0"/>
<param name="xmax" value="50.0"/>
<param name="ymax" value="50.0"/>
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.05"/>
<param name="llsamplestep" value="0.05"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<param name="transform_publish_period" value="0.1"/>
</node>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/go1_config/launch/include/amcl.launch | <launch>
<arg name="frame_prefix" default=""/>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<param name="initial_pose_a" value="0.0"/>
<param name="use_map_topic" value="true"/>
<param name="base_frame_id" value="$(arg frame_prefix)base_footprint"/>
<param name="odom_frame_id" value="$(arg frame_prefix)odom"/>
<param name="global_frame_id" value="$(arg frame_prefix)map"/>
<param name="transform_broadcast" value="true"/>
<param name="gui_publish_rate" value="10.0"/> <!-- Maximum rate (Hz) at which scans and paths are published for visualization, -1.0 to disable. -->
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="laser_max_beams" value="60"/>
<param name="laser_model_type" value="likelihood_field_prob"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="max_particles" value="2000"/>
<param name="min_particles" value="500"/>
<param name="odom_alpha1" value="0.5"/> <!-- Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion. -->
<param name="odom_alpha2" value="0.5"/> <!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
<param name="odom_alpha3" value="0.5"/> <!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
<param name="odom_alpha4" value="0.5"/> <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
<param name="odom_alpha5" value="0.5"/> <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
<param name="odom_model_type" value="omni"/>
<param name="recovery_alpha_slow" value="0.001"/> <!-- Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. -->
<param name="recovery_alpha_fast" value="0.1"/> <!-- Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. -->
<param name="resample_interval" value="1"/> <!-- Number of filter updates required before resampling. -->
<param name="transform_tolerance" value="1.25"/> <!-- Default 0.1; time with which to post-date the transform that is published, to indicate that this transform is valid into the future. -->
<param name="update_min_a" value="0.2"/> <!-- Rotational movement required before performing a filter update. 0.1 represents 5.7 degrees -->
<param name="update_min_d" value="0.2"/> <!-- Translational movement required before performing a filter update. -->
</node>
</launch>
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/go1_config/launch/include/move_base.launch | <launch>
<arg name="frame_prefix" default=""/>
<arg name="robot_name" default=""/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find go1_config)/config/move_base/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find go1_config)/config/move_base/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find go1_config)/config/move_base/local_costmap_params.yaml" command="load" />
<rosparam file="$(find go1_config)/config/move_base/global_costmap_params.yaml" command="load" />
<rosparam file="$(find go1_config)/config/move_base/base_local_planner_holonomic_params.yaml" command="load" />
<rosparam file="$(find go1_config)/config/move_base/move_base_params.yaml" command="load" />
<!-- explicitly define frame ids for movebase -->
<param name="global_costmap/global_frame" value="$(arg frame_prefix)map"/>
<param name="global_costmap/robot_base_frame" value="$(arg frame_prefix)base_footprint"/>
<param name="global_costmap/2d_obstacles_layer/scan/topic" value="$(arg robot_name)scan"/>
<param name="global_costmap/3d_obstacles_layer/depth/topic" value="$(arg robot_name)camera/depth/points"/>
<param name="local_costmap/global_frame" value="$(arg frame_prefix)odom"/>
<param name="local_costmap/robot_base_frame" value="$(arg frame_prefix)base_footprint"/>
<param name="local_costmap/2d_obstacles_layer/scan/topic" value="$(arg robot_name)scan"/>
<param name="local_costmap/3d_obstacles_layer/depth/topic" value="$(arg robot_name)camera/depth/points"/>
</node>
</launch> |
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
|
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 |
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 |
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 |
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 |
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}
|
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 |
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 |
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 |
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
|
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 |
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"}
|
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"}
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(astro_config)
find_package(catkin REQUIRED COMPONENTS)
catkin_package() |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/setup.bash | #!/usr/bin/env bash
ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include
bash -i |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/package.xml | <?xml version="1.0"?>
<package format="2">
<name>astro_config</name>
<version>0.0.0</version>
<description>CHAMP Config Package</description>
<maintainer email="[email protected]">Juan Miguel Jimeno</maintainer>
<author>Juan Miguel Jimeno</author>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roslaunch</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>champ_base</exec_depend>
</package> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/launch/bringup.launch | <launch>
<arg name="robot_name" default="/"/>
<arg name="joints_map_file" default="$(find astro_config)/config/joints/joints.yaml"/>
<arg name="links_map_file" default="$(find astro_config)/config/links/links.yaml"/>
<arg name="gait_config_file" default="$(find astro_config)/config/gait/gait.yaml"/>
<arg name="description_file" default="$(find astro_config)/urdf/quadruped.urdf"/>
<arg name="gazebo" default="false" />
<arg name="rviz" default="false"/>
<arg name="base_frame" default="odom"/>
<arg name="has_imu" default="true" />
<arg name="lite" default="false" />
<arg name="laser" default="d435"/>
<include file="$(find champ_bringup)/launch/bringup.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="joints_map_file" value="$(arg joints_map_file)"/>
<arg name="links_map_file" value="$(arg links_map_file)"/>
<arg name="gait_config_file" value="$(arg gait_config_file)"/>
<arg name="description_file" value="$(arg description_file)"/>
<arg name="has_imu" value="$(arg has_imu)"/>
<arg name="gazebo" value="$(arg gazebo)"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="laser" value="$(arg laser)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="base_frame" value="$(arg robot_name)/$(arg base_frame)"/>
</include>
<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_laser" args="0 0 0 0 0 0 /base_link /laser" />
<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_imu" args="0 0 0 0 0 0 /base_link /imu_link" />
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/launch/navigate.launch | <launch>
<!-- Map server -->
<arg name="map_file" default="$(find astro_config)/maps/map.yaml"/>
<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)" />
<include file="$(find astro_config)/launch/include/navigation/amcl.launch" />
<include file="$(find astro_config)/launch/include/navigation/move_base.launch" />
</launch>
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/launch/slam.launch | <launch>
<include file="$(find astro_config)/launch/include/slam/gmapping.launch" />
<include file="$(find astro_config)/launch/include/navigation/move_base.launch" />
</launch>
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/launch/include/slam/gmapping.launch | <launch>
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<param name="base_frame" value="base_footprint" />
<param name="odom_frame" value="odom" />
<param name="map_update_interval" value="5.0"/>
<param name="maxUrange" value="9.0"/>
<param name="maxRange" value="10.0"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="minimumScore" value="200"/>
<param name="srr" value="0.01"/>
<param name="srt" value="0.02"/>
<param name="str" value="0.01"/>
<param name="stt" value="0.02"/>
<param name="linearUpdate" value="0.5"/>
<param name="angularUpdate" value="1.5708"/>
<param name="temporalUpdate" value="-1.0"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="80"/>
<param name="xmin" value="-1.0"/>
<param name="ymin" value="-1.0"/>
<param name="xmax" value="1.0"/>
<param name="ymax" value="1.0"/>
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.01"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<param name="transform_publish_period" value="0.1"/>
</node>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/launch/include/slam/octomap.launch | <launch>
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
<param name="resolution" value="0.05" />
<!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
<param name="frame_id" type="string" value="map" />
<!-- maximum range to integrate (speedup!) -->
<param name="sensor_model/max_range" value="3.0" />
<param name="filter_ground" value="true" />
<!-- data source to integrate (PointCloud2) -->
<remap from="cloud_in" to="camera/depth_registered/points" />
</node>
<include file="$(find champ_navigation)/launch/slam/hector_mapping.launch" />
</launch>
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/launch/include/slam/hector_mapping.launch | <launch>
<arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
<arg name="base_frame" default="base_footprint"/>
<arg name="odom_frame" default="odom"/>
<arg name="pub_map_odom_transform" default="true"/>
<arg name="scan_subscriber_queue_size" default="20"/>
<arg name="scan_topic" default="scan"/>
<arg name="map_size" default="2048"/>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="map_frame" value="map" />
<param name="base_frame" value="$(arg base_frame)" />
<param name="odom_frame" value="$(arg odom_frame)" />
<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
<!-- Map size / start point -->
<param name="map_resolution" value="0.05"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="4" />
<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />
<param name="map_update_distance_thresh" value="0.1"/>
<param name="map_update_angle_thresh" value="0.02" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />
<param name="laser_max_dist" value = "5.0" />
<!-- Advertising config -->
<param name="advertise_map_service" value="true"/>
<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/>
<!-- Debug parameters -->
<!--
<param name="output_timing" value="false"/>
<param name="pub_drawings" value="true"/>
<param name="pub_debug_output" value="true"/>
-->
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
<!-- <remap from="map" to="hmap"/> -->
</node>
</launch>
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/launch/include/navigation/amcl.launch | <launch>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<param name="base_frame_id" value="base_footprint"/> <!-- Change this if you want to change your base frame id. -->
<param name="gui_publish_rate" value="10.0"/> <!-- Maximum rate (Hz) at which scans and paths are published for visualization, -1.0 to disable. -->
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="laser_max_beams" value="60"/>
<param name="laser_model_type" value="likelihood_field"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="max_particles" value="2000"/>
<param name="min_particles" value="500"/>
<param name="odom_alpha1" value="0.25"/> <!-- Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion. -->
<param name="odom_alpha2" value="0.25"/> <!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
<param name="odom_alpha3" value="0.25"/> <!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
<param name="odom_alpha4" value="0.25"/> <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
<param name="odom_alpha5" value="0.1"/> <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
<param name="odom_frame_id" value="odom"/>
<param name="odom_model_type" value="diff"/>
<param name="recovery_alpha_slow" value="0.001"/> <!-- Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. -->
<param name="recovery_alpha_fast" value="0.1"/> <!-- Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. -->
<param name="resample_interval" value="1"/> <!-- Number of filter updates required before resampling. -->
<param name="transform_tolerance" value="1.25"/> <!-- Default 0.1; time with which to post-date the transform that is published, to indicate that this transform is valid into the future. -->
<param name="update_min_a" value="0.2"/> <!-- Rotational movement required before performing a filter update. 0.1 represents 5.7 degrees -->
<param name="update_min_d" value="0.2"/> <!-- Translational movement required before performing a filter update. -->
</node>
</launch>
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/launch/include/navigation/move_base.launch | <launch>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find astro_config)/config/navigation/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find astro_config)/config/navigation/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find astro_config)/config/navigation/local_costmap_params.yaml" command="load" />
<rosparam file="$(find astro_config)/config/navigation/global_costmap_params.yaml" command="load" />
<rosparam file="$(find astro_config)/config/navigation/base_local_planner_holonomic_params.yaml" command="load" />
<rosparam file="$(find astro_config)/config/navigation/move_base_params.yaml" command="load" />
</node>
</launch>
|
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
|
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
|
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 |
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 |
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 |
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 |
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 |
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 |
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
|
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
|
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 |
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