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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
- ubuntu20.04通过ros2一键安装命令安装ros2-galactic
wget http://fishros.com/install -O fishros && . fishros
- 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
- 启动仿真
ros2 launch sim_base sim.launch.py
- 启动可视化程序
ros2 launch sim_base rviz.launch.py
- 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
- 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
- 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
- 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.
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