This ROS package contains description's files to simulates and visualizes the bioloid humanoid robot.
Install message-to-tf to convert odometry to tf:
$ sudo apt install ros-kinetic-message-to-tf
Case you are using ROS melodic you can download this package from here.
Standalone (using TF transform from fake joint state publisher GUI):
$ roslaunch bioloid_description rviz.launch standalone:=true
With ros control (using TF from robot joint publisher's joint state from ros control):
$ roslaunch bioloid_description rviz.launch
You can launch the simulation with:
$ roslaunch bioloid_gazebo gazebo.launch
PRESS PLAY IN GAZEBO ONLY WHEN EVERYTHING IS LOADED (wait for controllers)
If you want to launch gazebo headless (without GUI) uses:
$ roslaunch bioloid_gazebo gazebo.launch uses_gui:=false
In order to move the joints using trajectory controller uses:
rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
To start the simulation call this service:
$ rosservice call /gazebo/unpause_physics "{}"
$ rostopic list
/clock
/rosout
/rosout_agg
/tf
/tf_static
/typea/footl_contact_sensor_state
/typea/footr_contact_sensor_state
/typea/imu
/typea/joint_states
/typea/joint_trajectory_controller/command
/typea/joint_trajectory_controller/follow_joint_trajectory/cancel
/typea/joint_trajectory_controller/follow_joint_trajectory/feedback
/typea/joint_trajectory_controller/follow_joint_trajectory/goal
/typea/joint_trajectory_controller/follow_joint_trajectory/result
/typea/joint_trajectory_controller/follow_joint_trajectory/status
/typea/joint_trajectory_controller/state
/typea/odom