- Quadruped robot with manipulator for this year
- For gripping motion,
robotiq_2finger_grippersis usedgazebo_grasp_pluginis added
Homepage - click
Promotion Video click
NEWS article click
- Mainly tested on
ROS Melodicversion - Make sure that you installed
ROS desktop fullversion - refer the wiki page- It comes with
Qt5,Gazebo,OpenCVversion 3.2,cv_bridge - In other words, this repo depends on
QT5,Gazebo,OpenCV,cv_bridge.
- It comes with
- Maker sure that you installed
ros-controlpacakges
$ sudo apt install ros-<YOUR_DISTRO>-ros-control ros-<YOUR_DISTRO>-ros-controllers
$ sudo apt install ros-<YOUR_DISTRO>-joy- Make sure that your
Cmakeversion is more recent than 3.19- Check it with
$ cmake --version
- Check it with
$ wget https://github.com/Kitware/CMake/releases/download/v3.19.8/cmake-3.19.8.tar.gz
$ tar zxf cmake-3.19.8.tar.gz && cd cmake-3.19.8
$ ./bootstrap
$ make
$ sudo make install
$ sudo reboot
$ cmake --version - Make sure that your
Gazeboversion is at least9.19.0- Updating
Gazebo- reference link
- Updating
$ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
$ cat /etc/apt/sources.list.d/gazebo-stable.list
$ wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get upgrade- Clone the git
$ cd <your_workspace>/src
$ git clone --recursive https://github.com/Woojin-Seol/KVRC2021- Add Gazebo Path ONLY ONCE, do NOT run below block again!!
$ cd KVRC2021/gazebo_map_for_khnp
$ echo "export GAZEBO_MODEL_PATH=:$GAZEBO_MODEL_PATH:$(pwd)/refracted_corridor_map:$(pwd)/rough_terrain_map:$(pwd)/stair_map:$(pwd)/qr_codes:$(pwd)/manipulator_map:$(pwd)/disturbance_map:$(pwd)/common" >> ~/.bashrc
$ . ~/.bashrc- Build the package
$ cd <your_workspace_where_you_clone_this_repo>
$ catkin build
$ . devel/setup.bash- Run launch file
$ roslaunch khnp_competition main.launch- You can edit codes realted to control the robot. Currently,
champcontroller and temporal gripping controller is included inmain.launchfile. - In detail, you can edit any files under
pipebot_config/configdirectory. - You can edit
hardwareInterfaceoftransmissioninpipebot.urdffile to change the type of ROS controller.- Only from line 10 to line 245 of the .urdf file.
- Add your autonomous navigation algorithm code and controller in
main.launch.- Open
main.launchto edit
- Open
<?xml version="1.0"?>
<launch>
<!-- Edit this part with your own algorithms -->
<!-- Do not touch below!!!!!!!! -->
............
</launch>