Flo V2 Control Programs and Models Repository

This repository contains control programs, simulation code, and model files for the Flo V2 robot.

Repository Structure

gazebo_simulation_and_control/
robot_arm_matlab_simulation/
SIM/
README.md

gazebo_simulation_and_control

This directory contains all files related to simulation and control of Flo V2. It includes code for testing and verifying the robot's movements in the Gazebo simulation environment.

robot_arm_matlab_simulation

This directory contains MATLAB scripts for verifying the DH parameters of the robotic arm.

SIM

This directory includes the model files for the Flo V2 robot,Also included here is a tutorial that will show you how to import the model into gazebo in its entirety!.

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Prerequisites:

sudo apt install mosquitto mosquitto-clients
pip install paho-mqtt

Installation:

1. Create ~/catkin_ws workspace and ~/catkin_ws/src folder

2. Inside src, clone this repo.

3. Install dependency: sudo apt install ros-noetic-dynamixel-sdk ros-noetic-dynamixel-sdk-examples

4. cd ~/catkin_ws then catkin_make. Make sure the packages are succesfully built.

5. source devel/setup.bash

6. roslaunch movewithhead full_robot_arm_sim.launch

7. Open another terminal, run source devel/setup.bash then rosrun flo_humanoid read_write_arms_node. You should see that the robot arms become stiff.

8. Open new terminal and source devel/setup.bash. Run chmod +x /home/anhtn/catkin_ws_2/src/FloSystemV2/gazebo_simulation_and_control/movewithhead/script/dualPosition.py then run rosrun movewithhead script/dualPosition.py

9. Open new terminal and source devel/setup.bash. Run chmod +x /home/anhtn/catkin_ws_2/src/FloSystemV2/gazebo_simulation_and_control/movewithhead/script/test.py then run rosrun movewithhead script/test.py

10. To demo an intransitive action performed by the robot: Open new terminal and source devel/setup.bash. Run chmod +x /home/anhtn/catkin_ws_2/src/FloSystemV2/gazebo_simulation_and_control/movewithhead/script/run_a_demo.py then run rosrun movewithhead script/run_a_demo.py

11. To demo a transitive action performed by the robot: