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ylo2_config package from ylo-2 repo

ylo2_moteus k3lso_moteus aliengo_description anymal_description anymalc_description hyq_description kinova_description minicheetah_description sensors_description solo_description spot_description wolf_description_utils ylo2_description champ champ_base champ_bringup champ_config champ_description champ_gazebo champ_msgs champ_navigation ylo2_config

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/elpimous/ylo-2.git
VCS Type git
VCS Version main
Last Updated 2023-04-30
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ylo2 Champ Config Package

Additional Links

No additional links.

Maintainers

  • Juan Miguel Jimeno

Authors

  • Juan Miguel Jimeno
champ_for_ylo2/ylo2_config/README.md

1. Quick Start

You don’t need a physical robot to run the following demos.

1.1. Walking demo in RVIZ:

1.1.1. Run the base driver:

roslaunch ylo2_config bringup.launch rviz:=true

1.1.2. Run the teleop node:

roslaunch champ_teleop teleop.launch

If you want to use a joystick add joy:=true as an argument.

1.2. SLAM demo:

1.2.1. Run the Gazebo environment:

roslaunch ylo2_config gazebo.launch

1.2.2. Run gmapping package and move_base:

roslaunch ylo2_config slam.launch rviz:=true

To start mapping:

  • Click ‘2D Nav Goal’.

  • Click and drag at the position you want the robot to go.

    champ

  • Save the map by running:

    roscd ylo2_config/maps
rosrun map_server map_saver

1.3. Autonomous Navigation:

1.3.1. Run the Gazebo environment:

roslaunch ylo2_config gazebo.launch

1.3.2. Run amcl and move_base:

roslaunch ylo2_config navigate.launch rviz:=true

To navigate:

  • Click ‘2D Nav Goal’.

  • Click and drag at the position you want the robot to go.

    champ

1.4.1 Spawning multiple robots in Gazebo

Run Gazebo and default simulation world:

roslaunch champ_gazebo spawn_world.launch

You can also load your own world file by passing your world’s path to ‘gazebo_world’ argument:

roslaunch champ_gazebo spawn_world.launch gazebo_world:=<path_to_world_file>

Spawning a robot:

roslaunch ylo2_config spawn_robot.launch robot_name:=<unique_robot_name> world_init_x:=<x_position> world_init_y:=<y_position>
  • Every instance of the spawned robot must have a unique robot name to prevent the topics and transforms from clashing.

:exclamation: This is not an official product from the robot’s company/author.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
catkin
roslaunch
rviz
champ_base

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/include/amcl.launch
      • frame_prefix [default: ]
  • launch/include/gmapping.launch
      • frame_prefix [default: ]
  • launch/include/move_base.launch
      • frame_prefix [default: ]
      • robot_name [default: ]
  • launch/spawn_robot.launch
      • robot_name [default: /]
      • rviz [default: false]
      • lite [default: false]
      • ros_control_file [default: $(find ylo2_config)/config/ros_control/ros_control.yaml]
      • gazebo_world [default: $(find ylo2_config)/worlds/outdoor.world]
      • world_init_x [default: 0.0]
      • world_init_y [default: 0.0]
      • world_init_heading [default: 0.0]
  • launch/slam.launch
      • robot_name [default: /]
      • rviz [default: false]
  • launch/navigate.launch
      • robot_name [default: /]
      • rviz [default: false]
      • map_file [default: $(find ylo2_config)/maps/map.yaml]
  • launch/bringup.launch
      • robot_name [default: /]
      • base_frame [default: base_link]
      • joints_map_file [default: $(find ylo2_config)/config/joints/joints.yaml]
      • links_map_file [default: $(find ylo2_config)/config/links/links.yaml]
      • gait_config_file [default: $(find ylo2_config)/config/gait/gait.yaml]
      • description_file [default: $(find ylo2_description)/robots/ylo2.urdf]
      • gazebo [default: false]
      • rviz [default: false]
      • rviz_ref_frame [default: odom]
      • has_imu [default: true]
      • lite [default: false]
      • close_loop_odom [default: false]
      • publish_foot_contacts [default: true]
      • publish_joint_control [default: true]
      • laser [default: sim]
      • joint_controller_topic [default: joint_group_position_controller/command]
      • hardware_connected [default: false]
  • launch/gazebo.launch
      • robot_name [default: /]
      • rviz [default: false]
      • lite [default: false]
      • ros_control_file [default: $(find ylo2_config)/config/ros_control/ros_control.yaml]
      • gazebo_world [default: $(find ylo2_config)/worlds/outdoor.world]
      • gui [default: true]
      • world_init_x [default: 0.0]
      • world_init_y [default: 0.0]
      • world_init_heading [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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