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renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/config/navigation/global_costmap_params.yaml | global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 1.0 #before: 5.0
publish_frequency: 0.5 #before 0.5
static_map: true
transform_tolerance: 0.5
cost_scaling_factor: 10.0
inflation_radius: 0.55 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/config/navigation/local_costmap_params.yaml | local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 1.0 #before 5.0
publish_frequency: 2.0 #before 2.0
static_map: false
rolling_window: true
width: 2.5
height: 2.5
resolution: 0.05 #increase to for higher res 0.025
transform_tolerance: 0.5
cost_scaling_factor: 5
inflation_radius: 0.55 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/urdf/quadruped.urdf | <?xml version="1.0" ?>
<robot name="quadruped"
xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="base_link"/>
<link name="lf_hip_debug_link"/>
<link name="lf_hip_link"/>
<link name="lf_upper_leg_link"/>
<link name="lf_lower_leg_link"/>
<link name="lf_foot_link"/>
<link name="rf_hip_debug_link"/>
<link name="rf_hip_link"/>
<link name="rf_upper_leg_link"/>
<link name="rf_lower_leg_link"/>
<link name="rf_foot_link"/>
<link name="lh_hip_debug_link"/>
<link name="lh_hip_link"/>
<link name="lh_upper_leg_link"/>
<link name="lh_lower_leg_link"/>
<link name="lh_foot_link"/>
<link name="rh_hip_debug_link"/>
<link name="rh_hip_link"/>
<link name="rh_upper_leg_link"/>
<link name="rh_lower_leg_link"/>
<link name="rh_foot_link"/>
<joint name="lf_debug_joint" type="fixed">
<parent link="base_link"/>
<child link="lf_hip_debug_link"/>
<origin rpy="0 0 0" xyz="0.117 0.0415 0"/>
</joint>
<joint name="lf_hip_joint" type="revolute">
<axis xyz="1 0 0"/>
<limit effort="25" lower="-3.14159265359" upper="3.14159265359" velocity="1.5"/>
<parent link="base_link"/>
<child link="lf_hip_link"/>
<origin rpy="0 0 0" xyz="0.117 0.0415 0"/>
</joint>
<joint name="lf_upper_leg_joint" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="25" lower="-3.14159265359" upper="3.14159265359" velocity="1.5"/>
<parent link="lf_hip_link"/>
<child link="lf_upper_leg_link"/>
<origin rpy="0 0 0" xyz="0 0.05 -0.031"/>
</joint>
<joint name="lf_lower_leg_joint" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="25" lower="-3.14159265359" upper="3.14159265359" velocity="1.5"/>
<parent link="lf_upper_leg_link"/>
<child link="lf_lower_leg_link"/>
<origin rpy="0 0 0" xyz="0 0 -0.078"/>
</joint>
<joint name="lf_foot_joint" type="fixed">
<parent link="lf_lower_leg_link"/>
<child link="lf_foot_link"/>
<origin rpy="0 0 0" xyz="0 0 -0.108"/>
</joint>
<joint name="rf_debug_joint" type="fixed">
<parent link="base_link"/>
<child link="rf_hip_debug_link"/>
<origin rpy="0 0 0" xyz="0.117 -0.0415 0"/>
</joint>
<joint name="rf_hip_joint" type="revolute">
<axis xyz="1 0 0"/>
<limit effort="25" lower="-3.14159265359" upper="3.14159265359" velocity="1.5"/>
<parent link="base_link"/>
<child link="rf_hip_link"/>
<origin rpy="0 0 0" xyz="0.117 -0.0415 0"/>
</joint>
<joint name="rf_upper_leg_joint" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="25" lower="-3.14159265359" upper="3.14159265359" velocity="1.5"/>
<parent link="rf_hip_link"/>
<child link="rf_upper_leg_link"/>
<origin rpy="0 0 0" xyz="0 -0.05 -0.031"/>
</joint>
<joint name="rf_lower_leg_joint" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="25" lower="-3.14159265359" upper="3.14159265359" velocity="1.5"/>
<parent link="rf_upper_leg_link"/>
<child link="rf_lower_leg_link"/>
<origin rpy="0 0 0" xyz="0 0 -0.078"/>
</joint>
<joint name="rf_foot_joint" type="fixed">
<parent link="rf_lower_leg_link"/>
<child link="rf_foot_link"/>
<origin rpy="0 0 0" xyz="0 0 -0.108"/>
</joint>
<joint name="lh_debug_joint" type="fixed">
<parent link="base_link"/>
<child link="lh_hip_debug_link"/>
<origin rpy="0 0 0" xyz="-0.117 0.0415 0"/>
</joint>
<joint name="lh_hip_joint" type="revolute">
<axis xyz="1 0 0"/>
<limit effort="25" lower="-3.14159265359" upper="3.14159265359" velocity="1.5"/>
<parent link="base_link"/>
<child link="lh_hip_link"/>
<origin rpy="0 0 0" xyz="-0.117 0.0415 0"/>
</joint>
<joint name="lh_upper_leg_joint" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="25" lower="-3.14159265359" upper="3.14159265359" velocity="1.5"/>
<parent link="lh_hip_link"/>
<child link="lh_upper_leg_link"/>
<origin rpy="0 0 0" xyz="0 0.05 -0.031"/>
</joint>
<joint name="lh_lower_leg_joint" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="25" lower="-3.14159265359" upper="3.14159265359" velocity="1.5"/>
<parent link="lh_upper_leg_link"/>
<child link="lh_lower_leg_link"/>
<origin rpy="0 0 0" xyz="0 0 -0.078"/>
</joint>
<joint name="lh_foot_joint" type="fixed">
<parent link="lh_lower_leg_link"/>
<child link="lh_foot_link"/>
<origin rpy="0 0 0" xyz="0 0 -0.108"/>
</joint>
<joint name="rh_debug_joint" type="fixed">
<parent link="base_link"/>
<child link="rh_hip_debug_link"/>
<origin rpy="0 0 0" xyz="-0.117 -0.0415 0"/>
</joint>
<joint name="rh_hip_joint" type="revolute">
<axis xyz="1 0 0"/>
<limit effort="25" lower="-3.14159265359" upper="3.14159265359" velocity="1.5"/>
<parent link="base_link"/>
<child link="rh_hip_link"/>
<origin rpy="0 0 0" xyz="-0.117 -0.0415 0"/>
</joint>
<joint name="rh_upper_leg_joint" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="25" lower="-3.14159265359" upper="3.14159265359" velocity="1.5"/>
<parent link="rh_hip_link"/>
<child link="rh_upper_leg_link"/>
<origin rpy="0 0 0" xyz="0 -0.05 -0.031"/>
</joint>
<joint name="rh_lower_leg_joint" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="25" lower="-3.14159265359" upper="3.14159265359" velocity="1.5"/>
<parent link="rh_upper_leg_link"/>
<child link="rh_lower_leg_link"/>
<origin rpy="0 0 0" xyz="0 0 -0.078"/>
</joint>
<joint name="rh_foot_joint" type="fixed">
<parent link="rh_lower_leg_link"/>
<child link="rh_foot_link"/>
<origin rpy="0 0 0" xyz="0 0 -0.108"/>
</joint>
</robot> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/config.json | {
"urdf_path": "$(find spotmicro_description)/urdf/spotmicroai.urdf",
"links": {
"right_hind": [
"rear_right_shoulder_link",
"rear_right_leg_link",
"rear_right_foot_link",
"rear_right_toe_link"
],
"right_front": [
"front_right_shoulder_link",
"front_right_leg_link",
"front_right_foot_link",
"front_right_toe_link"
],
"base": "base_link",
"left_hind": [
"rear_left_shoulder_link",
"rear_left_leg_link",
"rear_left_foot_link",
"rear_left_toe_link"
],
"left_front": [
"front_left_shoulder_link",
"front_left_leg_link",
"front_left_foot_link",
"front_left_toe_link"
]
},
"joints": {
"right_hind": [
"rear_right_shoulder",
"rear_right_leg",
"rear_right_foot",
"rear_right_toe"
],
"right_front": [
"front_right_shoulder",
"front_right_leg",
"front_right_foot",
"front_right_toe"
],
"left_hind": [
"rear_left_shoulder",
"rear_left_leg",
"rear_left_foot",
"rear_left_toe"
],
"left_front": [
"front_left_shoulder",
"front_left_leg",
"front_left_foot",
"front_left_toe"
]
},
"firmware": {
"transforms": {
"right_hind": {
"hip": [
-0.093,
-0.0395,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
-0.055,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.13,
0,
0,
0
],
"lower_leg": [
0.014,
0.0,
-0.109,
0.0,
0.0,
0.0
]
},
"right_front": {
"hip": [
0.093,
-0.0395,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
-0.055,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.13,
0,
0,
0
],
"lower_leg": [
0.014,
0.0,
-0.109,
0.0,
0.0,
0.0
]
},
"left_hind": {
"hip": [
-0.093,
0.0395,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
0.055,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.13,
0,
0,
0
],
"lower_leg": [
0.014,
0.0,
-0.109,
0.0,
0.0,
0.0
]
},
"left_front": {
"hip": [
0.093,
0.0395,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
0.055,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.13,
0,
0,
0
],
"lower_leg": [
0.014,
0.0,
-0.109,
0.0,
0.0,
0.0
]
}
},
"gait": {
"com_x_translation": 0.0,
"swing_height": 0.02,
"max_linear_vel_y": 0.25,
"max_linear_vel_x": 0.5,
"nominal_height": 0.15,
"knee_orientation": ">>",
"max_angular_vel_z": 1.0,
"stance_duration": 0.25,
"stance_depth": 0.0,
"pantograph_leg": "false",
"odom_scaler": 1.0
}
},
"default_urdf": "False",
"robot_name": "spotmicro"
} |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(spotmicro_config)
find_package(catkin REQUIRED COMPONENTS)
catkin_package() |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_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/spotmicro_config/package.xml | <?xml version="1.0"?>
<package format="2">
<name>spotmicro_config</name>
<version>0.1.0</version>
<description>spotmicro 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>champ_base</exec_depend>
<exec_depend>ros_controllers</exec_depend>
<exec_depend>roslaunch</exec_depend>
<exec_depend>rviz</exec_depend>
</package>
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/README.md |
## 1. Quick Start
You don't need a physical robot to run the following demos.
### 1.1. Walking demo in RVIZ:
#### 1.1.1. Run the base driver:
roslaunch spotmicro_config bringup.launch rviz:=true
#### 1.1.2. Run the teleop node:
roslaunch champ_teleop teleop.launch
If you want to use a [joystick](https://www.logitechg.com/en-hk/products/gamepads/f710-wireless-gamepad.html) add joy:=true as an argument.
### 1.2. SLAM demo:
#### 1.2.1. Run the Gazebo environment:
roslaunch spotmicro_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch spotmicro_config slam.launch rviz:=true
To start mapping:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
- Save the map by running:
roscd spotmicro_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch spotmicro_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch spotmicro_config navigate.launch rviz:=true
To navigate:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
#### 1.4.1 Spawning multiple robots in Gazebo
Run Gazebo and default simulation world:
roslaunch champ_gazebo spawn_world.launch
You can also load your own world file by passing your world's path to 'gazebo_world' argument:
roslaunch champ_gazebo spawn_world.launch gazebo_world:=<path_to_world_file>
Spawning a robot:
roslaunch spotmicro_config spawn_robot.launch robot_name:=<unique_robot_name> world_init_x:=<x_position> world_init_y:=<y_position>
* Every instance of the spawned robot must have a unique robot name to prevent the topics and transforms from clashing.
---
:exclamation: *This is not an official product from the robot's company/author.* |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_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="$(find spotmicro_config)/config/joints/joints.yaml"/> <!--Path to list of joint names. Do not touch this. -->
<arg name="links_map_file" default="$(find spotmicro_config)/config/links/links.yaml"/> <!-- Path to list of link names. Do not touch this. -->
<arg name="gait_config_file" default="$(find spotmicro_config)/config/gait/gait.yaml"/> <!-- Path to gait parameters. Do not touch this. -->
<arg name="description_file" default="$(find spotmicro_description)/urdf/spotmicroai.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 $(arg frame_prefix)imu_link" />
<include file="$(find spotmicro_config)/launch/position_controllers.launch"/>
</group>
</launch>
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_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="$(find spotmicro_config)/maps/map.yaml"/>
<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)" >
<param name="frame_id" value="$(arg frame_prefix)map" />
</node>
<!-- AMCL used for localization -->
<include file="$(find spotmicro_config)/launch/include/amcl.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack -->
<include file="$(find spotmicro_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 $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/launch/gazebo.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find spotmicro_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find spotmicro_config)/worlds/outdoor.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="gui" default="true"/>
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find spotmicro_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/spotmicro_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="$(find spotmicro_config)/launch/include/gmapping.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack packages -->
<include file="$(find spotmicro_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(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 $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/launch/position_controllers.launch | <launch>
<arg name="robot_name" default="/"/>
<arg name="ros_control_file" default="$(find spotmicro_config)/config/ros_control.yaml" />
<group ns="$(arg robot_name)">
<rosparam file="$(arg ros_control_file)" command="load"/>
<rosparam file="$(find spotmicro_config)/config/ros_control/hardware.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
args="
joint_states_controller
joint_group_position_controller
"/>
</group>
</launch>
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/launch/spawn_robot.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find spotmicro_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find spotmicro_config)/worlds/outdoor.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find spotmicro_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/spotmicro_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="/$(arg frame_prefix)map" />
<param name="map_update_interval" value="15.0"/>
<param name="maxUrange" value="5.0"/>
<param name="minRange" value="-0.5"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="minimumScore" value="100"/>
<param name="srr" value="0.01"/>
<param name="srt" value="0.02"/>
<param name="str" value="0.01"/>
<param name="stt" value="0.02"/>
<param name="linearUpdate" value="0.7"/>
<param name="angularUpdate" value="0.7"/>
<param name="temporalUpdate" value="-0.5"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="50"/>
<param name="xmin" value="-50.0"/>
<param name="ymin" value="-50.0"/>
<param name="xmax" value="50.0"/>
<param name="ymax" value="50.0"/>
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.05"/>
<param name="llsamplestep" value="0.05"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<param name="transform_publish_period" value="0.1"/>
</node>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/launch/include/amcl.launch | <launch>
<arg name="frame_prefix" default=""/>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<param name="initial_pose_a" value="0.0"/>
<param name="use_map_topic" value="true"/>
<param name="base_frame_id" value="$(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/spotmicro_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="$(find spotmicro_config)/config/move_base/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find spotmicro_config)/config/move_base/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find spotmicro_config)/config/move_base/local_costmap_params.yaml" command="load" />
<rosparam file="$(find spotmicro_config)/config/move_base/global_costmap_params.yaml" command="load" />
<rosparam file="$(find spotmicro_config)/config/move_base/base_local_planner_holonomic_params.yaml" command="load" />
<rosparam file="$(find spotmicro_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/spotmicro_config/maps/map.yaml | image: map.pgm
resolution: 0.050000
origin: [-50.000000, -50.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/include/quadruped_description.h | #ifndef QUADRUPED_DESCRIPTION_H
#define QUADRUPED_DESCRIPTION_H
#include <quadruped_base/quadruped_base.h>
namespace champ
{
namespace URDF
{
void loadFromHeader(champ::QuadrupedBase &base)
{
base.lf.hip.setOrigin(0.093, 0.0395, 0.0, 0.0, 0.0, 0.0);
base.lf.upper_leg.setOrigin(0.0, 0.055, -0.0, 0.0, 0.0, 0.0);
base.lf.lower_leg.setOrigin(0.014, 0.0, -0.109, 0.0, 0.0, 0.0);
base.lf.foot.setOrigin(0.0, 0.0, -0.13, 0, 0, 0);
base.rf.hip.setOrigin(0.093, -0.0395, 0.0, 0.0, 0.0, 0.0);
base.rf.upper_leg.setOrigin(0.0, -0.055, -0.0, 0.0, 0.0, 0.0);
base.rf.lower_leg.setOrigin(0.014, 0.0, -0.109, 0.0, 0.0, 0.0);
base.rf.foot.setOrigin(0.0, 0.0, -0.13, 0, 0, 0);
base.lh.hip.setOrigin(-0.093, 0.0395, 0.0, 0.0, 0.0, 0.0);
base.lh.upper_leg.setOrigin(0.0, 0.055, -0.0, 0.0, 0.0, 0.0);
base.lh.lower_leg.setOrigin(0.014, 0.0, -0.109, 0.0, 0.0, 0.0);
base.lh.foot.setOrigin(0.0, 0.0, -0.13, 0, 0, 0);
base.rh.hip.setOrigin(-0.093, -0.0395, 0.0, 0.0, 0.0, 0.0);
base.rh.upper_leg.setOrigin(0.0, -0.055, -0.0, 0.0, 0.0, 0.0);
base.rh.lower_leg.setOrigin(0.014, 0.0, -0.109, 0.0, 0.0, 0.0);
base.rh.foot.setOrigin(0.0, 0.0, -0.13, 0, 0, 0);
}
}
}
#endif |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/include/hardware_config.h | #ifndef HARDWARE_CONFIG_H
#define HARDWARE_CONFIG_H
#define USE_SIMULATION_ACTUATOR
// #define USE_DYNAMIXEL_ACTUATOR
// #define USE_SERVO_ACTUATOR
// #define USE_BRUSHLESS_ACTUATOR
#define USE_SIMULATION_IMU
// #define USE_BNO0809DOF_IMU
#define USE_ROS
// #define USE_ROS_RF
#ifdef USE_ROS_RF
#define ELE_PIN 16
#define AIL_PIN 21
#define RUD_PIN 17
#define THR_PIN 20
#define AUX1_PIN 22
#define AUX2_PIN 23
#define RF_INV_LX false
#define RF_INV_LY false
#define RF_INV_AZ false
#define RF_INV_ROLL true
#define RF_INV_PITCH false
#define RF_INV_YAW false
#endif
#ifdef USE_DYNAMIXEL_ACTUATOR
#define LFH_SERVO_ID 16
#define LFU_SERVO_ID 17
#define LFL_SERVO_ID 18
#define RFH_SERVO_ID 14
#define RFU_SERVO_ID 7
#define RFL_SERVO_ID 4
#define LHH_SERVO_ID 2
#define LHU_SERVO_ID 11
#define LHL_SERVO_ID 12
#define RHH_SERVO_ID 6
#define RHU_SERVO_ID 5
#define RHL_SERVO_ID 8
#define LFH_INV false
#define LFU_INV false
#define LFL_INV true
#define RFH_INV false
#define RFU_INV true
#define RFL_INV false
#define LHH_INV false
#define LHU_INV false
#define LHL_INV true
#define RHH_INV false
#define RHU_INV true
#define RHL_INV false
#endif
#ifdef USE_SERVO_ACTUATOR
#define LFH_PIN 8
#define LFU_PIN 7
#define LFL_PIN 6
#define RFH_PIN 14
#define RFU_PIN 16
#define RFL_PIN 17
#define LHH_PIN 4
#define LHU_PIN 3
#define LHL_PIN 2
#define RHH_PIN 21
#define RHU_PIN 22
#define RHL_PIN 23
#define LFH_OFFSET 0
#define LFU_OFFSET 0
#define LFL_OFFSET 0
#define RFH_OFFSET 0
#define RFU_OFFSET 0
#define RFL_OFFSET 0
#define LHH_OFFSET 0
#define LHU_OFFSET 0
#define LHL_OFFSET 3
#define RHH_OFFSET 0
#define RHU_OFFSET 0
#define RHL_OFFSET 0
#define LFH_INV false
#define LFU_INV false
#define LFL_INV false
#define RFH_INV false
#define RFU_INV true
#define RFL_INV true
#define LHH_INV true
#define LHU_INV false
#define LHL_INV false
#define RHH_INV true
#define RHU_INV true
#define RHL_INV true
#endif
#endif |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/include/gait_config.h | #ifndef GAIT_CONFIG_H
#define GAIT_CONFIG_H
#define KNEE_ORIENTATION ">>"
#define PANTOGRAPH_LEG false
#define ODOM_SCALER 1.0
#define MAX_LINEAR_VELOCITY_X 0.5
#define MAX_LINEAR_VELOCITY_Y 0.25
#define MAX_ANGULAR_VELOCITY_Z 1.0
#define COM_X_TRANSLATION 0.0
#define SWING_HEIGHT 0.02
#define STANCE_DEPTH 0.0
#define STANCE_DURATION 0.25
#define NOMINAL_HEIGHT 0.15
#endif |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/config/links/links.yaml | base: base_link
left_front:
- front_left_shoulder_link
- front_left_leg_link
- front_left_foot_link
- front_left_toe_link
right_front:
- front_right_shoulder_link
- front_right_leg_link
- front_right_foot_link
- front_right_toe_link
left_hind:
- rear_left_shoulder_link
- rear_left_leg_link
- rear_left_foot_link
- rear_left_toe_link
right_hind:
- rear_right_shoulder_link
- rear_right_leg_link
- rear_right_foot_link
- rear_right_toe_link |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/config/ros_control/ros_control.yaml | "":
joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
joint_group_position_controller:
type: position_controllers/JointTrajectoryController
joints:
- front_left_shoulder
- front_left_leg
- front_left_foot
- front_right_shoulder
- front_right_leg
- front_right_foot
- rear_left_shoulder
- rear_left_leg
- rear_left_foot
- rear_right_shoulder
- rear_right_leg
- rear_right_foot
# Servomotors have inner control loops so PIDs are not needed
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/config/ros_control/hardware.yaml | "":
hardware_interface:
loop_hz: 200 # hz
joints:
- front_left_shoulder
- front_left_leg
- front_left_foot
- front_right_shoulder
- front_right_leg
- front_right_foot
- rear_left_shoulder
- rear_left_leg
- rear_left_foot
- rear_right_shoulder
- rear_right_leg
- rear_right_foot
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/config/gait/gait.yaml | knee_orientation : ">>"
pantograph_leg : false
odom_scaler: 1.0
max_linear_velocity_x : 0.5
max_linear_velocity_y : 0.25
max_angular_velocity_z : 1.0
com_x_translation : 0.0
swing_height : 0.02
stance_depth : 0.0
stance_duration : 0.25
nominal_height : 0.15 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/config/joints/joints.yaml | left_front:
- front_left_shoulder
- front_left_leg
- front_left_foot
- front_left_toe
right_front:
- front_right_shoulder
- front_right_leg
- front_right_foot
- front_right_toe
left_hind:
- rear_left_shoulder
- rear_left_leg
- rear_left_foot
- rear_left_toe
right_hind:
- rear_right_shoulder
- rear_right_leg
- rear_right_foot
- rear_right_toe |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_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/spotmicro_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/spotmicro_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/spotmicro_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/spotmicro_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/anymal_c_config/config.json | {
"urdf_path": "$(find anymal_c_simple_description)/urdf/anymal.urdf",
"links": {
"right_hind": [
"RH_HIP",
"RH_THIGH",
"RH_SHANK",
"RH_FOOT"
],
"right_front": [
"RF_HIP",
"RF_THIGH",
"RF_SHANK",
"RF_FOOT"
],
"base": "base",
"left_hind": [
"LH_HIP",
"LH_THIGH",
"LH_SHANK",
"LH_FOOT"
],
"left_front": [
"LF_HIP",
"LF_THIGH",
"LF_SHANK",
"LF_FOOT"
]
},
"joints": {
"right_hind": [
"RH_HAA",
"RH_HFE",
"RH_KFE",
"RH_shank_fixed_RH_FOOT"
],
"right_front": [
"RF_HAA",
"RF_HFE",
"RF_KFE",
"RF_shank_fixed_RF_FOOT"
],
"left_hind": [
"LH_HAA",
"LH_HFE",
"LH_KFE",
"LH_shank_fixed_LH_FOOT"
],
"left_front": [
"LF_HAA",
"LF_HFE",
"LF_KFE",
"LF_shank_fixed_LF_FOOT"
]
},
"firmware": {
"transforms": {
"right_hind": {
"hip": [
-0.2999,
-0.104,
0.0,
2.61799387799,
0.0,
-3.14159265359
],
"upper_leg": [
-0.0599,
-0.08381,
-0.0,
2.61799387799,
0.0,
-4.71238898038
],
"foot": [
-0.08795,
-0.01305,
-0.33797,
0.0,
0.0,
1.57079632679
],
"lower_leg": [
0.0,
-0.1003,
-0.285,
0.0,
0.0,
0.0
]
},
"right_front": {
"hip": [
0.2999,
-0.104,
0.0,
-2.61799387799,
0.0,
0.0
],
"upper_leg": [
0.0599,
-0.08381,
-0.0,
2.61799387799,
0.0,
-1.57079632679
],
"foot": [
0.08795,
-0.01305,
-0.33797,
0.0,
0.0,
1.57079632679
],
"lower_leg": [
0.0,
-0.1003,
-0.285,
0.0,
0.0,
0.0
]
},
"left_hind": {
"hip": [
-0.2999,
0.104,
0.0,
-2.61799387799,
0.0,
-3.14159265359
],
"upper_leg": [
-0.0599,
0.08381,
-0.0,
-2.61799387799,
0.0,
-1.5707963268
],
"foot": [
-0.08795,
0.01305,
-0.33797,
0.0,
0.0,
-1.57079632679
],
"lower_leg": [
0.0,
0.1003,
-0.285,
0.0,
0.0,
0.0
]
},
"left_front": {
"hip": [
0.2999,
0.104,
0.0,
2.61799387799,
0.0,
0.0
],
"upper_leg": [
0.0599,
0.08381,
-0.0,
-2.61799387799,
0.0,
1.57079632679
],
"foot": [
0.08795,
0.01305,
-0.33797,
0.0,
0.0,
-1.57079632679
],
"lower_leg": [
0.0,
0.1003,
-0.285,
0.0,
0.0,
0.0
]
}
},
"gait": {
"max_linear_vel_y": 0.25,
"max_linear_vel_x": 0.5,
"nominal_height": 0.43,
"stance_depth": 0.0,
"swing_height": 0.05,
"knee_orientation": "><",
"odom_scaler": 1.0,
"stance_duration": 0.3,
"pantograph_leg": "false",
"com_x_translation": 0.0,
"max_angular_vel_z": 1.0
}
},
"default_urdf": "False",
"robot_name": "anymal_c"
} |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_c_config/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(anymal_c_config)
find_package(catkin REQUIRED COMPONENTS)
catkin_package() |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_c_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/anymal_c_config/package.xml | <?xml version="1.0"?>
<package format="2">
<name>anymal_c_config</name>
<version>0.1.0</version>
<description>anymal_c 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/anymal_c_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 anymal_c_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 anymal_c_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch anymal_c_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 anymal_c_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch anymal_c_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch anymal_c_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 anymal_c_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/anymal_c_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="$(find anymal_c_config)/config/joints/joints.yaml"/> <!--Path to list of joint names. Do not touch this. -->
<arg name="links_map_file" default="$(find anymal_c_config)/config/links/links.yaml"/> <!-- Path to list of link names. Do not touch this. -->
<arg name="gait_config_file" default="$(find anymal_c_config)/config/gait/gait.yaml"/> <!-- Path to gait parameters. Do not touch this. -->
<arg name="description_file" default="$(find anymal_c_simple_description)/urdf/anymal.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 $(arg frame_prefix)imu_link" />
<!-- include your hardware launch file here -->
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_c_config/launch/navigate.launch | <launch>
<arg name="robot_name" default="/"/>
<arg name="rviz" default="false"/>
<arg if="$(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 anymal_c_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="$(find anymal_c_config)/launch/include/amcl.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack -->
<include file="$(find anymal_c_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(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 $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_c_config/launch/gazebo.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find anymal_c_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find anymal_c_config)/worlds/outdoor.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="gui" default="true"/>
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find anymal_c_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/anymal_c_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="$(find anymal_c_config)/launch/include/gmapping.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack packages -->
<include file="$(find anymal_c_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(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 $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_c_config/launch/spawn_robot.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find anymal_c_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find anymal_c_config)/worlds/outdoor.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find anymal_c_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/anymal_c_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="/$(arg frame_prefix)map" />
<param name="map_update_interval" value="15.0"/>
<param name="maxUrange" value="5.0"/>
<param name="minRange" value="-0.5"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="minimumScore" value="100"/>
<param name="srr" value="0.01"/>
<param name="srt" value="0.02"/>
<param name="str" value="0.01"/>
<param name="stt" value="0.02"/>
<param name="linearUpdate" value="0.7"/>
<param name="angularUpdate" value="0.7"/>
<param name="temporalUpdate" value="-0.5"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="50"/>
<param name="xmin" value="-50.0"/>
<param name="ymin" value="-50.0"/>
<param name="xmax" value="50.0"/>
<param name="ymax" value="50.0"/>
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.05"/>
<param name="llsamplestep" value="0.05"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<param name="transform_publish_period" value="0.1"/>
</node>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_c_config/launch/include/amcl.launch | <launch>
<arg name="frame_prefix" default=""/>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<param name="initial_pose_a" value="0.0"/>
<param name="use_map_topic" value="true"/>
<param name="base_frame_id" value="$(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/anymal_c_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="$(find anymal_c_config)/config/move_base/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find anymal_c_config)/config/move_base/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find anymal_c_config)/config/move_base/local_costmap_params.yaml" command="load" />
<rosparam file="$(find anymal_c_config)/config/move_base/global_costmap_params.yaml" command="load" />
<rosparam file="$(find anymal_c_config)/config/move_base/base_local_planner_holonomic_params.yaml" command="load" />
<rosparam file="$(find anymal_c_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/anymal_c_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/anymal_c_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(0.2999, 0.104, 0.0, 2.61799387799, 0.0, 0.0);
base.lf.upper_leg.setOrigin(0.0599, 0.08381, -0.0, -2.61799387799, 0.0, 1.57079632679);
base.lf.lower_leg.setOrigin(0.0, 0.1003, -0.285, 0.0, 0.0, 0.0);
base.lf.foot.setOrigin(0.08795, 0.01305, -0.33797, 0.0, 0.0, -1.57079632679);
base.rf.hip.setOrigin(0.2999, -0.104, 0.0, -2.61799387799, 0.0, 0.0);
base.rf.upper_leg.setOrigin(0.0599, -0.08381, -0.0, 2.61799387799, 0.0, -1.57079632679);
base.rf.lower_leg.setOrigin(0.0, -0.1003, -0.285, 0.0, 0.0, 0.0);
base.rf.foot.setOrigin(0.08795, -0.01305, -0.33797, 0.0, 0.0, 1.57079632679);
base.lh.hip.setOrigin(-0.2999, 0.104, 0.0, -2.61799387799, 0.0, -3.14159265359);
base.lh.upper_leg.setOrigin(-0.0599, 0.08381, -0.0, -2.61799387799, 0.0, -1.5707963268);
base.lh.lower_leg.setOrigin(0.0, 0.1003, -0.285, 0.0, 0.0, 0.0);
base.lh.foot.setOrigin(-0.08795, 0.01305, -0.33797, 0.0, 0.0, -1.57079632679);
base.rh.hip.setOrigin(-0.2999, -0.104, 0.0, 2.61799387799, 0.0, -3.14159265359);
base.rh.upper_leg.setOrigin(-0.0599, -0.08381, -0.0, 2.61799387799, 0.0, -4.71238898038);
base.rh.lower_leg.setOrigin(0.0, -0.1003, -0.285, 0.0, 0.0, 0.0);
base.rh.foot.setOrigin(-0.08795, -0.01305, -0.33797, 0.0, 0.0, 1.57079632679);
}
}
}
#endif |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_c_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/anymal_c_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 0.05
#define STANCE_DEPTH 0.0
#define STANCE_DURATION 0.3
#define NOMINAL_HEIGHT 0.43
#endif |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_c_config/config/links/links.yaml | base: base
left_front:
- LF_HIP
- LF_THIGH
- LF_SHANK
- LF_FOOT
right_front:
- RF_HIP
- RF_THIGH
- RF_SHANK
- RF_FOOT
left_hind:
- LH_HIP
- LH_THIGH
- LH_SHANK
- LH_FOOT
right_hind:
- RH_HIP
- RH_THIGH
- RH_SHANK
- RH_FOOT |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_c_config/config/ros_control/ros_control.yaml | "":
joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 30
joint_group_position_controller:
type: effort_controllers/JointTrajectoryController
joints:
- LF_HAA
- LF_HFE
- LF_KFE
- RF_HAA
- RF_HFE
- RF_KFE
- LH_HAA
- LH_HFE
- LH_KFE
- RH_HAA
- RH_HFE
- RH_KFE
gains:
LF_HAA : {p: 500, i: 1, d: 30}
LF_HFE : {p: 500, i: 1, d: 30}
LF_KFE : {p: 500, i: 1, d: 30}
RF_HAA : {p: 500, i: 1, d: 30}
RF_HFE : {p: 500, i: 1, d: 30}
RF_KFE : {p: 500, i: 1, d: 30}
LH_HAA : {p: 500, i: 1, d: 30}
LH_HFE : {p: 500, i: 1, d: 30}
LH_KFE : {p: 500, i: 1, d: 30}
RH_HAA : {p: 500, i: 1, d: 30}
RH_HFE : {p: 500, i: 1, d: 30}
RH_KFE : {p: 500, i: 1, d: 30}
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_c_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 : 0.06
stance_depth : 0.0
stance_duration : 0.3
nominal_height : 0.43 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_c_config/config/joints/joints.yaml | left_front:
- LF_HAA
- LF_HFE
- LF_KFE
- LF_shank_fixed_LF_FOOT
right_front:
- RF_HAA
- RF_HFE
- RF_KFE
- RF_shank_fixed_RF_FOOT
left_hind:
- LH_HAA
- LH_HFE
- LH_KFE
- LH_shank_fixed_LH_FOOT
right_hind:
- RH_HAA
- RH_HFE
- RH_KFE
- RH_shank_fixed_RH_FOOT |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_c_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/anymal_c_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/anymal_c_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/anymal_c_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/anymal_c_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/littledog_config/config.json | {
"urdf_path": "$(find littledog_description)/urdf/littledog.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": "body",
"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": [
"back_right_hip_roll",
"back_right_hip_pitch",
"back_right_knee",
"back_right_ankle"
],
"right_front": [
"front_right_hip_roll",
"front_right_hip_pitch",
"front_right_knee",
"front_right_ankle"
],
"left_hind": [
"back_left_hip_roll",
"back_left_hip_pitch",
"back_left_knee",
"back_left_ankle"
],
"left_front": [
"front_left_hip_roll",
"front_left_hip_pitch",
"front_left_knee",
"front_left_ankle"
]
},
"firmware": {
"transforms": {
"right_hind": {
"hip": [
-0.101,
-0.03625,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
-0.0236,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
0.0208,
0.0,
-0.098,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.0751,
0.0,
0.0,
0.0
]
},
"right_front": {
"hip": [
0.101,
-0.03625,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
-0.0236,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
-0.0208,
0.0,
-0.098,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.0751,
0.0,
0.0,
0.0
]
},
"left_hind": {
"hip": [
-0.101,
0.03625,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
0.0236,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
0.0208,
0.0,
-0.098,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.0751,
0.0,
0.0,
0.0
]
},
"left_front": {
"hip": [
0.101,
0.03625,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
0.0236,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
-0.0208,
0.0,
-0.098,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.0751,
0.0,
0.0,
0.0
]
}
},
"gait": {
"com_x_translation": 0.0,
"swing_height": 0.02,
"max_linear_vel_y": 0.25,
"max_linear_vel_x": 0.5,
"nominal_height": 0.14,
"knee_orientation": "><",
"max_angular_vel_z": 1.0,
"stance_duration": 0.2,
"stance_depth": 0.0,
"pantograph_leg": "false",
"odom_scaler": 1.0
}
},
"default_urdf": "False",
"robot_name": "littledog"
} |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/littledog_config/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(littledog_config)
find_package(catkin REQUIRED COMPONENTS)
catkin_package() |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/littledog_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/littledog_config/package.xml | <?xml version="1.0"?>
<package format="2">
<name>littledog_config</name>
<version>0.1.0</version>
<description>littledog 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/littledog_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 littledog_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 littledog_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch littledog_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 littledog_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch littledog_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch littledog_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 littledog_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/littledog_config/launch/bringup.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="base_frame" default="body"/> <!-- Link name of floating base. Do not touch this. -->
<arg name="joints_map_file" default="$(find littledog_config)/config/joints/joints.yaml"/> <!--Path to list of joint names. Do not touch this. -->
<arg name="links_map_file" default="$(find littledog_config)/config/links/links.yaml"/> <!-- Path to list of link names. Do not touch this. -->
<arg name="gait_config_file" default="$(find littledog_config)/config/gait/gait.yaml"/> <!-- Path to gait parameters. Do not touch this. -->
<arg name="description_file" default="$(find littledog_description)/urdf/littledog.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)body $(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)body $(arg frame_prefix)imu_link" />
<!-- include your hardware launch file here -->
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/littledog_config/launch/navigate.launch | <launch>
<arg name="robot_name" default="/"/>
<arg name="rviz" default="false"/>
<arg if="$(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 littledog_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="$(find littledog_config)/launch/include/amcl.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack -->
<include file="$(find littledog_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(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 $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/littledog_config/launch/gazebo.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find littledog_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find littledog_config)/worlds/outdoor.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="gui" default="true"/>
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find littledog_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/littledog_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="$(find littledog_config)/launch/include/gmapping.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack packages -->
<include file="$(find littledog_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(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 $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/littledog_config/launch/spawn_robot.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find littledog_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find littledog_config)/worlds/outdoor.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find littledog_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/littledog_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="/$(arg frame_prefix)map" />
<param name="map_update_interval" value="15.0"/>
<param name="maxUrange" value="5.0"/>
<param name="minRange" value="-0.5"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="minimumScore" value="100"/>
<param name="srr" value="0.01"/>
<param name="srt" value="0.02"/>
<param name="str" value="0.01"/>
<param name="stt" value="0.02"/>
<param name="linearUpdate" value="0.7"/>
<param name="angularUpdate" value="0.7"/>
<param name="temporalUpdate" value="-0.5"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="50"/>
<param name="xmin" value="-50.0"/>
<param name="ymin" value="-50.0"/>
<param name="xmax" value="50.0"/>
<param name="ymax" value="50.0"/>
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.05"/>
<param name="llsamplestep" value="0.05"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<param name="transform_publish_period" value="0.1"/>
</node>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/littledog_config/launch/include/amcl.launch | <launch>
<arg name="frame_prefix" default=""/>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<param name="initial_pose_a" value="0.0"/>
<param name="use_map_topic" value="true"/>
<param name="base_frame_id" value="$(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/littledog_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="$(find littledog_config)/config/move_base/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find littledog_config)/config/move_base/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find littledog_config)/config/move_base/local_costmap_params.yaml" command="load" />
<rosparam file="$(find littledog_config)/config/move_base/global_costmap_params.yaml" command="load" />
<rosparam file="$(find littledog_config)/config/move_base/base_local_planner_holonomic_params.yaml" command="load" />
<rosparam file="$(find littledog_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/littledog_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/littledog_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(0.101, 0.03625, 0.0, 0.0, 0.0, 0.0);
base.lf.upper_leg.setOrigin(0.0, 0.0236, -0.0, 0.0, 0.0, 0.0);
base.lf.lower_leg.setOrigin(0.0, 0.0, -0.0751, 0.0, 0.0, 0.0);
base.lf.foot.setOrigin(-0.0208, 0.0, -0.098, 0.0, 0.0, 0.0);
base.rf.hip.setOrigin(0.101, -0.03625, 0.0, 0.0, 0.0, 0.0);
base.rf.upper_leg.setOrigin(0.0, -0.0236, -0.0, 0.0, 0.0, 0.0);
base.rf.lower_leg.setOrigin(0.0, 0.0, -0.0751, 0.0, 0.0, 0.0);
base.rf.foot.setOrigin(-0.0208, 0.0, -0.098, 0.0, 0.0, 0.0);
base.lh.hip.setOrigin(-0.101, 0.03625, 0.0, 0.0, 0.0, 0.0);
base.lh.upper_leg.setOrigin(0.0, 0.0236, -0.0, 0.0, 0.0, 0.0);
base.lh.lower_leg.setOrigin(0.0, 0.0, -0.0751, 0.0, 0.0, 0.0);
base.lh.foot.setOrigin(0.0208, 0.0, -0.098, 0.0, 0.0, 0.0);
base.rh.hip.setOrigin(-0.101, -0.03625, 0.0, 0.0, 0.0, 0.0);
base.rh.upper_leg.setOrigin(0.0, -0.0236, -0.0, 0.0, 0.0, 0.0);
base.rh.lower_leg.setOrigin(0.0, 0.0, -0.0751, 0.0, 0.0, 0.0);
base.rh.foot.setOrigin(0.0208, 0.0, -0.098, 0.0, 0.0, 0.0);
}
}
}
#endif |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/littledog_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/littledog_config/include/gait_config.h | #ifndef GAIT_CONFIG_H
#define GAIT_CONFIG_H
#define KNEE_ORIENTATION "><"
#define PANTOGRAPH_LEG false
#define ODOM_SCALER 1.0
#define MAX_LINEAR_VELOCITY_X 0.5
#define MAX_LINEAR_VELOCITY_Y 0.25
#define MAX_ANGULAR_VELOCITY_Z 1.0
#define COM_X_TRANSLATION 0.0
#define SWING_HEIGHT 0.02
#define STANCE_DEPTH 0.0
#define STANCE_DURATION 0.2
#define NOMINAL_HEIGHT 0.14
#endif |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/littledog_config/config/links/links.yaml | base: body
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/littledog_config/config/ros_control/ros_control.yaml | "":
joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
joint_group_position_controller:
type: effort_controllers/JointTrajectoryController
joints:
- front_left_hip_roll
- front_left_hip_pitch
- front_left_knee
- front_right_hip_roll
- front_right_hip_pitch
- front_right_knee
- back_left_hip_roll
- back_left_hip_pitch
- back_left_knee
- back_right_hip_roll
- back_right_hip_pitch
- back_right_knee
gains:
front_left_hip_roll : {p: 180, d: 0.9, i: 20}
front_left_hip_pitch : {p: 180, d: 0.9, i: 20}
front_left_knee : {p: 180, d: 0.9, i: 20}
front_right_hip_roll : {p: 180, d: 0.9, i: 20}
front_right_hip_pitch : {p: 180, d: 0.9, i: 20}
front_right_knee : {p: 180, d: 0.9, i: 20}
back_left_hip_roll : {p: 180, d: 0.9, i: 20}
back_left_hip_pitch : {p: 180, d: 0.9, i: 20}
back_left_knee : {p: 180, d: 0.9, i: 20}
back_right_hip_roll : {p: 180, d: 0.9, i: 20}
back_right_hip_pitch : {p: 180, d: 0.9, i: 20}
back_right_knee : {p: 180, d: 0.9, i: 20}
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/littledog_config/config/gait/gait.yaml | knee_orientation : "><"
pantograph_leg : false
odom_scaler: 1.0
max_linear_velocity_x : 0.5
max_linear_velocity_y : 0.25
max_angular_velocity_z : 1.0
com_x_translation : 0.0
swing_height : 0.02
stance_depth : 0.0
stance_duration : 0.2
nominal_height : 0.14 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/littledog_config/config/joints/joints.yaml | left_front:
- front_left_hip_roll
- front_left_hip_pitch
- front_left_knee
- front_left_ankle
right_front:
- front_right_hip_roll
- front_right_hip_pitch
- front_right_knee
- front_right_ankle
left_hind:
- back_left_hip_roll
- back_left_hip_pitch
- back_left_knee
- back_left_ankle
right_hind:
- back_right_hip_roll
- back_right_hip_pitch
- back_right_knee
- back_right_ankle |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/littledog_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/littledog_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/littledog_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/littledog_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/littledog_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/anymal_b_config/config.json | {
"urdf_path": "$(find anymal_b_simple_description)/urdf/anymal.urdf",
"links": {
"right_hind": [
"RH_HIP",
"RH_THIGH",
"RH_SHANK",
"RH_FOOT"
],
"right_front": [
"RF_HIP",
"RF_THIGH",
"RF_SHANK",
"RF_FOOT"
],
"base": "base",
"left_hind": [
"LH_HIP",
"LH_THIGH",
"LH_SHANK",
"LH_FOOT"
],
"left_front": [
"LF_HIP",
"LF_THIGH",
"LF_SHANK",
"LF_FOOT"
]
},
"joints": {
"right_hind": [
"RH_HAA",
"RH_HFE",
"RH_KFE",
"RH_ADAPTER_TO_FOOT"
],
"right_front": [
"RF_HAA",
"RF_HFE",
"RF_KFE",
"RF_ADAPTER_TO_FOOT"
],
"left_hind": [
"LH_HAA",
"LH_HFE",
"LH_KFE",
"LH_ADAPTER_TO_FOOT"
],
"left_front": [
"LF_HAA",
"LF_HFE",
"LF_KFE",
"LF_ADAPTER_TO_FOOT"
]
},
"firmware": {
"transforms": {
"right_hind": {
"hip": [
-0.277,
-0.116,
0.0,
0,
0,
0
],
"upper_leg": [
-0.0635,
-0.041,
-0.0,
0,
0,
0
],
"foot": [
-0.1,
0.02,
-0.32125,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
-0.109,
-0.25,
0,
0,
0
]
},
"right_front": {
"hip": [
0.277,
-0.116,
0.0,
0,
0,
0
],
"upper_leg": [
0.0635,
-0.041,
-0.0,
0,
0,
0
],
"foot": [
0.1,
0.02,
-0.32125,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
-0.109,
-0.25,
0,
0,
0
]
},
"left_hind": {
"hip": [
-0.277,
0.116,
0.0,
0,
0,
0
],
"upper_leg": [
-0.0635,
0.041,
-0.0,
0,
0,
0
],
"foot": [
-0.1,
-0.02,
-0.32125,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.109,
-0.25,
0,
0,
0
]
},
"left_front": {
"hip": [
0.277,
0.116,
0.0,
0,
0,
0
],
"upper_leg": [
0.0635,
0.041,
-0.0,
0,
0,
0
],
"foot": [
0.1,
-0.02,
-0.32125,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.109,
-0.25,
0,
0,
0
]
}
},
"gait": {
"com_x_translation": 0.0,
"swing_height": 0.04,
"max_linear_vel_y": 0.25,
"max_linear_vel_x": 0.5,
"nominal_height": 0.4,
"knee_orientation": "><",
"max_angular_vel_z": 1.0,
"stance_duration": 0.25,
"stance_depth": 0.0,
"pantograph_leg": "false",
"odom_scaler": 1.0
}
},
"default_urdf": "False",
"robot_name": "anymal_b"
} |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_b_config/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(anymal_b_config)
find_package(catkin REQUIRED COMPONENTS)
catkin_package() |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_b_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/anymal_b_config/package.xml | <?xml version="1.0"?>
<package format="2">
<name>anymal_b_config</name>
<version>0.1.0</version>
<description>anymal 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/anymal_b_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 anymal_b_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 anymal_b_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch anymal_b_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 anymal_b_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch anymal_b_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch anymal_b_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 anymal_b_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/anymal_b_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="$(find anymal_b_config)/config/joints/joints.yaml"/> <!--Path to list of joint names. Do not touch this. -->
<arg name="links_map_file" default="$(find anymal_b_config)/config/links/links.yaml"/> <!-- Path to list of link names. Do not touch this. -->
<arg name="gait_config_file" default="$(find anymal_b_config)/config/gait/gait.yaml"/> <!-- Path to gait parameters. Do not touch this. -->
<arg name="description_file" default="$(find anymal_b_simple_description)/urdf/anymal.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 $(arg frame_prefix)imu_link" />
<!-- include your hardware launch file here -->
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_b_config/launch/navigate.launch | <launch>
<arg name="robot_name" default="/"/>
<arg name="rviz" default="false"/>
<arg if="$(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 anymal_b_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="$(find anymal_b_config)/launch/include/amcl.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack -->
<include file="$(find anymal_b_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(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 $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_b_config/launch/gazebo.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find anymal_b_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find anymal_b_config)/worlds/outdoor.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="gui" default="true"/>
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find anymal_b_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/anymal_b_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="$(find anymal_b_config)/launch/include/gmapping.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack packages -->
<include file="$(find anymal_b_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(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 $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_b_config/launch/spawn_robot.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find anymal_b_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find anymal_b_config)/worlds/outdoor.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find anymal_b_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/anymal_b_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="/$(arg frame_prefix)map" />
<param name="map_update_interval" value="15.0"/>
<param name="maxUrange" value="5.0"/>
<param name="minRange" value="-0.5"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="minimumScore" value="100"/>
<param name="srr" value="0.01"/>
<param name="srt" value="0.02"/>
<param name="str" value="0.01"/>
<param name="stt" value="0.02"/>
<param name="linearUpdate" value="0.7"/>
<param name="angularUpdate" value="0.7"/>
<param name="temporalUpdate" value="-0.5"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="50"/>
<param name="xmin" value="-50.0"/>
<param name="ymin" value="-50.0"/>
<param name="xmax" value="50.0"/>
<param name="ymax" value="50.0"/>
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.05"/>
<param name="llsamplestep" value="0.05"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<param name="transform_publish_period" value="0.1"/>
</node>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_b_config/launch/include/amcl.launch | <launch>
<arg name="frame_prefix" default=""/>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<param name="initial_pose_a" value="0.0"/>
<param name="use_map_topic" value="true"/>
<param name="base_frame_id" value="$(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/anymal_b_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="$(find anymal_b_config)/config/move_base/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find anymal_b_config)/config/move_base/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find anymal_b_config)/config/move_base/local_costmap_params.yaml" command="load" />
<rosparam file="$(find anymal_b_config)/config/move_base/global_costmap_params.yaml" command="load" />
<rosparam file="$(find anymal_b_config)/config/move_base/base_local_planner_holonomic_params.yaml" command="load" />
<rosparam file="$(find anymal_b_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/anymal_b_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/anymal_b_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(0.277, 0.116, 0.0, 0, 0, 0);
base.lf.upper_leg.setOrigin(0.0635, 0.041, -0.0, 0, 0, 0);
base.lf.lower_leg.setOrigin(0.0, 0.109, -0.25, 0, 0, 0);
base.lf.foot.setOrigin(0.1, -0.02, -0.32125, 0.0, 0.0, 0.0);
base.rf.hip.setOrigin(0.277, -0.116, 0.0, 0, 0, 0);
base.rf.upper_leg.setOrigin(0.0635, -0.041, -0.0, 0, 0, 0);
base.rf.lower_leg.setOrigin(0.0, -0.109, -0.25, 0, 0, 0);
base.rf.foot.setOrigin(0.1, 0.02, -0.32125, 0.0, 0.0, 0.0);
base.lh.hip.setOrigin(-0.277, 0.116, 0.0, 0, 0, 0);
base.lh.upper_leg.setOrigin(-0.0635, 0.041, -0.0, 0, 0, 0);
base.lh.lower_leg.setOrigin(0.0, 0.109, -0.25, 0, 0, 0);
base.lh.foot.setOrigin(-0.1, -0.02, -0.32125, 0.0, 0.0, 0.0);
base.rh.hip.setOrigin(-0.277, -0.116, 0.0, 0, 0, 0);
base.rh.upper_leg.setOrigin(-0.0635, -0.041, -0.0, 0, 0, 0);
base.rh.lower_leg.setOrigin(0.0, -0.109, -0.25, 0, 0, 0);
base.rh.foot.setOrigin(-0.1, 0.02, -0.32125, 0.0, 0.0, 0.0);
}
}
}
#endif |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_b_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/anymal_b_config/include/gait_config.h | #ifndef GAIT_CONFIG_H
#define GAIT_CONFIG_H
#define KNEE_ORIENTATION "><"
#define PANTOGRAPH_LEG false
#define ODOM_SCALER 1.0
#define MAX_LINEAR_VELOCITY_X 0.5
#define MAX_LINEAR_VELOCITY_Y 0.25
#define MAX_ANGULAR_VELOCITY_Z 1.0
#define COM_X_TRANSLATION 0.0
#define SWING_HEIGHT 0.04
#define STANCE_DEPTH 0.0
#define STANCE_DURATION 0.25
#define NOMINAL_HEIGHT 0.4
#endif |
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