Robot_Dog

Four legged robot URDF in Rviz and Gazebo Video

How to run

• Clone the repo git clone https://github.com/mohamedsayed18/Robot_Dog.git
  
• Put the packages (spot, rrbot_control) in your work space
  
• build the work space catkin_make
  
• then write this command
  Run all from one launch
  roslaunch spot one_for_all.launch
  

Or run them separately
launch the robot in gazebo
roslaunch spot dog_world.launch
launch the control files
roslaunch rrbot_control rrbot_control.launch
Run this script which send values to the joints
rosrun rrbot_control publisher.py
Run the Subscriber rosrun spot camera_sub.py

Control in Gazebo

i followed this tutorial
this repo contain examples which they use in the above tutorial

adding camera

i followed this Tutorial: Using Gazebo plugins with ROS
the photo of mydog_camera move the link with camera (done) with publisher subscriber save images to folder simple subscriber

using the rostopic info /image_raw, i was able to know the type of the message Writing a Simple Image Subscriber (C++)

Steps

the steps i took to approach this project
1- choose the Robot_Dog
2- draw simple sketch
3- build the urdf file
4- improve my urdf with xacro
5- launch on gazebo
6- make control
7- python script to publish
7- writing a good readme

References

book: Ros robotics by examples

draft

• Do work in a separate branch, make pull request (PR) and put link to PR in the moodle. Let’s agreed to merge PR only after my review-grading.
• Add a camera sensor to one of your movable link.
• Implement a publisher that moves the link with a camera
• Implement a subscriber that saves images from a camera to files (the name should increment like pic1.png pic2.png etc).
• Add launch file to run all needed nodes.
• Make small video showing that all is working, not more than 20 sec.