Simulation environment of BiQu (wip)

Simulation environment of Bimodal Quadruped MQP, used for testing control system implementation.

ros2_control_solo

• Control Solo12 robot in Gazebo Simulation Environment
• Follows repository ros2_control_demos, ros2_control_bolt, and gazebo_ros2_control

Packages

• Check required packages at: doc/Start.md
• gazebo_ros2_control - stores controllers.yaml, launch
• ros2_control_bringup
• ros2_description - stores description files: urdf, xacro, mesh

Launching

• ros2 launch gazebo_ros2_control_bolt solo_system_position_only_gazebo.launch.py

Controller

• Position

ros2 topic pub /joint_group_controller/commands std_msgs/msg/Float64MultiArray "data:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0"

• or using publisher

ros2 run waypoints_controller position_publisher

Notes

11/18

• Solo12 Model: Correct Inertia, No Slipping
• Position JointGroupController, Effort ForwardCommandController