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README_TestWorkspace.md

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fast_legged_planner test workspace

Download

cd <planner_ws>
git clone --recursive git@github.com:MasterYip/Fast-Legged-Planner-Test.git

Then change the folder name to src.

Important Examples

ElSpider Air Co-simulation

A simple co-simulation for ElSpider Air.

Dependencies

  • ros_industrial_cmake_boilerplate
sudo apt install ros-$ROS_DISTRO-ros-industrial-cmake-boilerplate
  • CGAL?

Dependent Repos

  • Qrpucp/HexapodSoftware: check out branch feature/elspider_air_locomotion

    git clone --recursive git@github.com:Qrpucp/HexapodSoftware.git
git checkout feature/co-simulation
catkin_make -DCMAKE_BUILD_TYPE=Release

    It needs pinocchio and hpp-fcl, you can install them by:

    # Clone pinocchio
git clone --recurse-submodules https://github.com/leggedrobotics/pinocchio.git
# Clone hpp-fcl
git clone --recurse-submodules https://github.com/leggedrobotics/hpp-fcl.git
catkin build pinocchio -DCMAKE_BUILD_TYPE=Release

  • HITSME-HexLab/HexapodElevationMapping: check out branch feature/co-simulation or master

    git clone --recursive git@github.com:HITSME-HexLab/HexapodElevationMapping.git
git checkout feature/co-simulation
catkin build hexapod_elevation_mapping -DCMAKE_BUILD_TYPE=Release

Recommand workspace structure

├── hexapod_ws
│   ├── build
│   ├── devel
│   └── src
│       ├── hpp-fcl
│       ├── pinocchio
│       └── HexapodSoftware
├── perception_ws
│   ├── build
│   ├── devel
│   ├── logs
│   └── src
│       └── HexapodElevationMapping
└── planner_ws
    ├── build
    ├── devel
    ├── logs
    └── src
        ├── fast_legged_planner
        ├── robot_assets

Get Started

Compile
# Make sure depend repos are properly installed & sourced
catkin build legged_traj_plan_examples -DCMAKE_BUILD_TYPE=Release
Launch procedure

FakeFeedback | Planning:

roslaunch legged_traj_plan_examples elspider_air_state_sequence_planner.launch \
robot_interface_type:=ElSpiderAirDummy \
sim:=true \
teleop_type:=keyboard
roslaunch legged_traj_plan_examples elspider_air_raibert_planner.launch \
robot_interface_type:=ElSpiderAirDummy \
sim:=true \
teleop_type:=PS5
roslaunch legged_traj_plan_examples elspider_air_simple_raibert_planner.launch \
robot_interface_type:=ElSpiderAirDummy \
sim:=true \
teleop_type:=PS5

Legacy:

roslaunch legged_traj_plan_examples elspider_air_simple_raibert_vmc_planner.launch \
fake_feedback:=true \
sim:=true \
teleop_type:=PS5

Simulation | Perception & Planning & Control:

# Terminal1: start HexapodSoftware Gazebo simulation
roslaunch user main.launch \
controller_type:=hlc \
robot_name:=elspider_air \
joystick_type:=keyboard_sim \
gazebo_hang_up:=false \
interface_type:=gazebo
# Terminal2: start Planner & elevation mapping
roslaunch legged_traj_plan_examples elspider_air_state_sequence_planner.launch sim:=true
#or
roslaunch legged_traj_plan_examples elspider_air_simple_raibert_planner.launch robot_interface_type:=ElSpiderAirROSVMC sim:=true teleop_type:=PS5
#or
roslaunch legged_traj_plan_examples elspider_air_raibert_vmc_planner.launch sim:=true
#or
roslaunch legged_traj_plan_examples elspider_air_simple_raibert_vmc_planner.launch sim:=true

Hardware | Perception & Planning & Control:

# Terminal1: start HexapodSoftware Hardware
# Get in to sudo mode
sudo su
source /home/user/HexLabCodeSpace/hexapod_ws/devel/setup.bash
# Start HexapodSoftware (after source the workspace)
roslaunch user main.launch \
controller_type:=hlc \
robot_name:=elspider_air \
joystick_type:=PS5 \
gazebo_hang_up:=false \
interface_type:=hardware
# Terminal2: start Planner & elevation mapping
roslaunch legged_traj_plan_examples elspider_air_state_sequence_planner.launch sim:=false use_optitrack:=true demo_name:=hardware
#or
roslaunch legged_traj_plan_examples elspider_air_simple_raibert_planner.launch sim:=false use_optitrack:=false demo_name:=hardware
#or
roslaunch legged_traj_plan_examples elspider_air_raibert_planner.launch sim:=false use_optitrack:=true demo_name:=hardware
#or
roslaunch legged_traj_plan_examples elspider_air_raibert_vmc_planner.launch sim:=false
#or
roslaunch legged_traj_plan_examples elspider_air_simple_raibert_vmc_planner.launch sim:=false

Settings are listed in elspider_air_simple_planner.launch.

ROS bag recording:

Set the rosbag_record:=true in the launch file.

ROS bag playback:

roslaunch legged_traj_plan_examples rosbag_playback.launch
Usage

Robot initialization using keyboard (Terminal1):

  • o: Motor initialization
  • u: Press once to enter sitdown mode, press again to enter standup mode
  • v: Enter HLC mode (communicate with planner bypassing topic hexapod/foot_cmd_track)

For more details, please refer to HexapodSoftware keyboard_sim node. You can also use PS5 (sequence is R2, R1, A)

CmdVel control(Terminal2):

  • arrow up: Move forward
  • arrow down: Move backward(not recommended)
  • arrow left: Turn left(not recommended)
  • arrow right: Turn right(not recommended)

You can publish geometry_msgs/Twist to /cmd_vel to control the robot too.

Documentations (A bit messy, temporarily not for new-comers)

Major rospkg:

Related rospkgs:

Acknowledgements