rnd_catbot_ros2

Adapted Hyperdog Ros2 code for ros2 humble.

Contains

This repository contains ros2 packages for quadruped robot HyperDog. packages are :

1. hyperdog_msgs : this package contains the msgs those used by other packages.

   1. JoyCtrlCmds : this contains the control variables of the robot from the gamepad

      • bool[3] states : { start, walk, side_move_mode}
      • uint8 gait_type : to change the gait type
      • geometry_msgs/Pose pose : to control slant(x,y) and roll,pitch,yaw
      • geometry_msgs/Vector3 gait_step : gait_step.x = steplen_x, gait_step.y = steplen_y, gait_step.z = swing_height

   2. Geometry: this contains the parameters for coordinate of each leg and body orientation(roll,pitch,yaw)

      • geometry_msgs/Point32 fr : x,y,z end effector coordinates of FR leg
      • geometry_msgs/Point32 fl : x,y,z end effector coordinates of FL leg
      • geometry_msgs/Point32 br : x,y,z end effector coordinates of BR leg
      • geometry_msgs/Point32 bl : x,y,z end effector coordinates of BL leg
      • geometry_msgs/Quaternion euler_ang : roll, pitch, yaw angles

2. hyperdog_teleop : this pkg creates `/hyperdog_teleop_gamepad_node.

   • Node 1 : /joy_node This node creates commands to robot from Gamepad commands
     • subscriber : /joy_node
     • publisher : /hyperdog_joy_ctrl_cmd using the interface hyperdog_msgs/msg/JoyCtrlCmd

3. hyperdog_ctrl : This pkg has Body_motion_planner and gait_generator and creates the nodes /command_manager_node and /IK_node

   • Body_motion_planner : plans body motions from control commands receive from /command_manager_node

   • gait_generator : generates gaits acording to the given gait_type command from the Gamepad

   • Node 1 : /command_manager_node

     • subscriber : /hyperdog_joy_ctrl_cmd via hyperdog_msgs/msg/JoyCtrlCmds interface
     • publisher : /hyperdog_geometry via hyperdog_msgs/msg/Geometry interface

   • Node 2 : /IK_node

     • subscriber : /hyperdog_geometry via hyperdog_msgs/msg/Geometry interface
     • publisher : /hyperdog_jointController/commands

4. hyperdog_launch : This contains the launch file for all the above nodes and micro_ros_agent

5. hyperdog_gazebo_sim : Gazebo simulation

6. hyperdog_gazebo_joint_cmd : this pkg contains the node /hyperdog_gazebo_joint_cmd to send joint angles to gazebo

   • Node : /hyperdog_gazebo_joint_cmd
     • subscriber : /hyperdog_jointController/commands
     • publisher : '/gazebo_joint_controller/commands`

Building

1. Create a ROS2 workspace and build this package for ROS2 humble

# make the workspace
mkdir rnd_catbot_ros2_ws/src 
cd rnd_catbot_ros2_ws/src

# clone repo
git clone https://github.com/nicholasl23638/rnd_catbot_ros2.git
 
# build the pkg
cd .. 
colcon build

install dependances

sudo apt-get install ros-humble-ros-gz
sudo apt install ros-humble-control*
sudo apt install ros-humble-ign-ros2-control*

Launching

source the workspace

cd rnd_catbot_ros2_ws
. /usr/share/gazebo/setup.sh
source rnd_catbot_ros2_ws/install/setup.bash

to add workspace source permenently to .bashrc:

  # add source 
  echo "source /home/$USER/rnd_catbot_ros2_ws/install/setup.bash" >> ~/.bashrc

to launch run following

ros2 launch hyperdog_launch hyperdog.launch.py

to launch gazebo simulation

ros2 launch hyperdog_gazebo_sim hyperdog_gazebo_sim.launch.py

Known bugs:

• gazebo-ros2-control pkg doesn't work properly. So the robot slides on the ground.