Python simulation
This is the link to the Python simulation of the slip model: https://github.com/nooshin-kohli/python_simulation
Gazebo simulation and ROS
prerequisites
Considering ROS Melodic is installed on your Ubuntu 18.04, we will guide you to configure your workspace. If you don't have ROS Melodic installed, check this page http://wiki.ros.org/melodic/Installation/Ubuntu For using controllers you need to install ros_control and ros_controllers:
sudo apt update
sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers
For using joint-state-publisher-gui:
sudo apt update
sudo apt install ros-melodic-joint-state-publisher-gui
Create your workspace
First, you need to configure a workspace using these commands:
mkdir <your_ws>
cd <your_ws>
catkin_make
For more information about Catkin workspace check this page http://wiki.ros.org/catkin/Tutorials/create_a_workspace Now It's time to clone the repository.
cd <your_ws>/src
git clone https://github.com/nooshin-kohli/simulation.git
There is no need to do all these steps all over again every time you want to use simulation. In the next part, you will learn how to run these codes.
Run simulation
Open new terminal
cd <your_ws>
source devel/setup.bash
To visualize the robot with a slider in rviz:
roslaunch first_leg urdf_rviz.launch
To visualize a robot with a slider in Gazebo:
roslaunch first_leg urdf_gazebo.launch
You can run rviz and the gazebo simultaneously. To do so run gazebo as mentioned above and in the new terminal type:
rviz rviz
Now in rviz add the tf plugin. See Topics in the new terminal write
rostopic list
Command a position to controllers
rostopic pub -1 /leg/jumper_position_controller/command std_msgs/Float64 <value in meters>
or for commanding one of the revolute joints:
rostopic pub -1 /leg/hip_joint_position_controller/command std_msgs/Float64 <value in radians>
*note: for commanding negative values (for calf_joint)
rostopic pub -1 /leg/calf_joint_position_controller/command std_msgs/Float64 -- <value in radians>
Run command node
After launching the robot in gazebo, open another terminal then go to your workspace
cd <your_ws>
and source setup.bash
source devel/setup.bash
To run the node for no slider mode enter
rosrun first_leg command.py
you will see a robot moving in the gazebo. *note: For permission denied error, open the terminal in the scripts directory and enter
chmod +x command.py