cyberdog_sim repository

cyberdog_sim repository

cyberdog_sim repository

Repository Summary

Checkout URI https://github.com/wlinzhen/cyberdog_sim.git
VCS Type git
VCS Version main
Last Updated 2024-07-09
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)

Packages

Name Version
cyber_guide 0.0.0
ros_bridge 0.0.0
sim_base 0.0.0

README

cyberdog_sim

基于cyberdog2的gazebo仿真实现

实现效果如下

地形适应

https://github.com/WLinZhen/cyberdog_sim/assets/144916746/376e69a2-d141-49e4-975d-56219c551378

基于地形适应的落足点规划

https://github.com/WLinZhen/cyberdog_sim/assets/144916746/fbeb1b39-5bef-408b-bcd7-a6084f8f023a

部署环境

  1. ubuntu20.04通过ros2一键安装命令安装ros2-galactic
wget http://fishros.com/install -O fishros && . fishros

  1. 安装gazebo11
sudo apt-get install gazebo11-*

sudo apt-get install ros-galactic-gazebo-ros-*

sudo apt install ros-galactic-xacro

编译项目

在cyberdog_sim文件夹下打开终端,确保当前在cyberdog_sim文件夹下

colcon build

使用方法 -每一步确保在cyberdog_sim文件夹下打开新终端,并且使用source install/setup.bash

  1. 启动仿真
ros2 launch sim_base sim.launch.py

  1. 启动可视化程序
ros2 launch sim_base rviz.launch.py

  1. 启动控制器 –> 使用方法请阅读 cyberdog_sim/src/cyber_guide/robot/src/rt/rt_keyboard.cpp
ros2 run cyber_guide cyber_guide

实机 电机sdk转ros cyber_io

  1. 安装lcm

源码安装:

git clone https://github.com/lcm-proj/lcm.git
cd lcm
mkdir build && cd build
cmake .. && make
sudo make install

  1. 编译项目

在cyberdog_io文件夹下打开终端,确保当前在cyberdog_io文件夹下

colcon build

  1. 使用方法

通过网线接口连接cyberdog2 ,并将用户电脑IPv4设为:192.168.44.100/255.255.255.0

在cyber_io文件夹下打开终端,确保当前在cyberdog_io文件夹下,并且使用source install/setup.bash

./a.sh

ros2 run cyber_base Example_MotorCtrl

CONTRIBUTING

No CONTRIBUTING.md found.

cyberdog_sim repository

cyberdog_sim repository

cyberdog_sim repository

cyberdog_sim repository

cyberdog_sim repository

cyberdog_sim repository

cyberdog_sim repository

cyberdog_sim repository

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cyberdog_sim repository

cyberdog_sim repository

cyberdog_sim repository

cyberdog_sim repository

cyberdog_sim repository