modi1987/scorpion

SCORPION

This is a ROS2 software for the following older project youtube video available here.

How to Build the Package

The package is based on ROS2 Humble and can be compiled on a laptop or a Raspberry Pi. To compile:

Create your workspace folder

mkdir -p ~/my_ws/src
cd ~/my_ws/src

Clone the repo

git clone [email protected]:Modi1987/scorpion.git

Compile the workspace

cd ~/my_ws/src
colcon build

How to run and visualize in rviz:

To run the package in rviz (and visualize the robot moving):

• first, run the joints_aggregator, which will aggregate the joitns angles published individually by each limb into one /joint_states message

ros2 launch joints_aggregator joints_aggregator.launch.py 

• second, run the rviz simuation

ros2 launch penta_pod penta_rviz.launch.py

• third, run the penta_pod core package, this subscripes on feet positions and publishes joints angles for each limb

ros2 launch penta_pod penta_pod.launch.py

• fourth, run the gait generator, which move the robot feet according to twist command

ros2 launch gait_generator gait_generator.launch.py

• fifth, you can stream the twist command /cmd_vel using teleop_twist_keyboard

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Other ways to move the simulation around

Invoke the ik solver by publishing a target foot position

ros2 topic pub /limb0/xyz_msg limb_msgs/msg/Pxyz "{"x": 0.1, "z": -0.1}"

Move feet up and down

ros2 run test_foot_pos test_gait_node

To animate the simulation you can stream feet positions

ros2 launch test_foot_pos test_foot_pos.launch.py