This is the main ROS workspace for the RoboStilt robot.

This release has the following features

• URDF model with XACRO and gazebo tags loaded also into parameter server
• ros_control/effort_controllers to read and control joints in simulation
  • JointTrajecotry controller to move multiple actuators at the same time with trajectorized paths
  • YAML anchors
• Dynamic reconfiguration publisher
• Gazebo simulation is stable, spawns in known position and with known joint positions
  • Gazebo crashes sometimes.
• RVIZ connected to simulation via TF publisher with interactive markers
• Stable forward with effor limit detection.

• robostilt_description/launch/init_robot.launch
  • Sets common arguments and saves some of them on the parameter server
  • Loads URDF model of robot into param server using the previous arguments.
    • Single spot for robot dimension, accessible to URDF and parameter server
• robostilt_control/launch/controllaunch
  • Loads controller configuration from robostilt_control/config/control.yaml
  • Loads controllers into controller spawner including the gazebo joint_state_publisher
  • in Gazebo the ouptut of the controller, the manipulation variable, limits are not visible on the respective topics. But they are really applied. The controller might send XXX in /state/command and gazebo clamps it to what is on the URDF.
  • These limits are really enfored on a real robot on the write() read()function
  • Loads robot_state_publisher to update TFs from joint position information
• robostilt_rviz/launch/rviz.launch
  • Loads rviz with known config
  • Launches simple_marker.py node
    • Creates an interactive maker server
    • The node takes in the data from the joint state topic uses it with the interactive marker location and publishes a new set point fort he joint so it moves in a intuitive fashion.
• robostilt_gazebo/launch/gazebo.launch
  • Launches gazebo with empty world
  • Spawns robot into gazebo with known joint positions and pose
  • Launch python node that publishes base to world TF.
    • Used to position robot in rviz
• RQT_GUI
  • Launch RQT gui with known perspective

roslaunch robostilt_pkg demoGazebo.launch

Wait for all programs to load

1. Play simulation in Gazebo. Model falls and remains flat on ground.

   1. Gazebo sometimes crashes and fails to open

2. Publish joit positions using RQT_GUI message publisher or run python script:

   rosrun robostilt_common stepForward.py
   

To reset simulation.

roslaunch robostilt_gazebo reset.launch

• Sensors in simulation

• Individual JointTrajectoryControllers on all joints

  • Move leg down, with effort limit

• Gait based on sensor input