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hajime_walk_ros

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config
 
 
include
include
 
 
launch
launch
 
 
motions
motions
 
 
src
src
 
 
CMakeLists.txt
CMakeLists.txt
 
 
README.md
README.md
 
 
package.xml
package.xml
 
 

README.md

hajime_walk_ros

Overview

  • hajime walk control package

Usage

$ roslaunch hajime_walk_ros hajime_walk.launch

ROS API

Subscribed topics

  • /imu/data

    • Topic to receive imu data for gyro feedback

  • /hajime_walk/walk

    • Topic to receive walk command
    • Topic type: opr_msgs/HajimeWalk
      • int32 num_step: number of steps to take (0 is infinite)
      • int32 period: walking period
      • int32 stride_x: stride width
      • int32 stride_y: stride side step
      • int32 stride_th: stride angle

  • /hajime_walk/cancel

    • Topic to receive walk cancel command
    • Topic type: std_msgs/Bool
    • Execute cancel command when topic is published regardless of the actual data

  • /hajime_walk/motion

    • Topic to receive motion command
    • Topic type: opr_msgs/HajimeMotion
      • int32 motion_id: motion id
      • int32 num_repeat: number of motions to repeat (0 is infinite)

Published topics

  • /XXXXX_controller/command
    • Topic to publish joint angles to controller.
    • Joint angles are defined in opr_ros_control

Parameters

  • motion_path

    • file path to the robot's motion
    • optional

  • eeprom_list.yaml

    • set of walking parameters

Package Structure

opr_bringup
|-CMakeLists.txt
|-config/
  |-eeprom_list.yaml
|-include/
  |-acc.h
  |-calc_deg.h
  |-calc_mv.h
  |-cntr.h
  |-func.h
  |-gyro.h
  |-joy.h
  |-kine.h
  |-motion.h
  |-mvtbl.h
  |-pc_motion.h
  |-serv.h
  |-serv_init.h
  |-servo_rs.h
  |-sq_motion.h
  |-sq_ready.h
  |-sq_start.h
  |-sq_straight.h
  |-sq_walk.h
  |-var.h
|-launch/
  |-hajime_walk.launch
|-package.xml
|-README.md
|-src/
  |-acc.c
  |-calc_deg.c
  |-calc_mv.c
  |-cntr.c
  |-func.c
  |-gyro.c
  |-joy.c
  |-kine.c
  |-main.cpp
  |-motion.c
  |-mvtbl.c
  |-pc_motion.c
  |-serv.c
  |-serv_init.c
  |-sq_motion.c
  |-sq_ready.c
  |-sq_start.c
  |-sq_straight.c
  |-sq_walk.c
  |-var_init.c