RISE Quadruped Robot Simulation and Manipulation Package

© 2019, Francisco Yumbla

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1. How to Install

1.1. System Requirements

This package is written an tested on Ubuntu 20.04 + ROS Noetic environment. Dependencies are also for this environment.

1.1.1 Desktop

Install ROS in your Ubuntu 20.04 computer (follow this tutorials): http://wiki.ros.org/noetic/Installation/Ubuntu

Create a ROS Workspace: ~/catkin_ws

1.2. Dependencies Prerequisites

Please install all the packages listed below in your Ubuntu PC or Jetson Nano, in the given order.

• ros-noetic-moveit

1.3 Build

Extract the metapackage ros-quadruped-robot into ${ros_workspace}/src. and catkin_make your workspace.

git clone --recursive https://github.com/fryumbla/ros-quadruped-robot.git

catkin_make

2. Structure of Package

To be updated...

3. How to Use

3.1. Gazebo Simulation

1. Gazebo execution (Since simulation is performed with vrep remote api, roscore must be executed first)

   roslaunch quadruped_description gazebo.launch
   

2. Run the modules needed for the demo with roslaunch

   rosrun quadruped_master communication_gazebo.py 
   

   rosrun quadruped_master movement.py
   

3.2. CoppeliaSim Simulation

1. CoppeliaSim execution (Open the scene: ros-quadruped-robot/quadruped_vrep/scenes/ ), and play

2. Run the modules needed for the demo with roslaunch and the movement program

   roslaunch quadruped_vrep vrep.launch
   

   rosrun quadruped_master movement.py