walk

ROS2 Walking Node to be used across different types of bipeds

Compiling

In your workspace, run:

git clone git@github.com:ijnek/walk.git src/walk
vcs import src < src/walk/dependencies.repos --recursive
colcon build

Instructions, all in separate terminals

Start simulator:

rcsoccersim3d

Launch NAO in simulator:

ros2 run rcss3d_nao rcss3d_nao

Start inverse kinematics of robot:

ros2 run nao_ik nao_ik

Start the phase provider:

ros2 run nao_phase_provider nao_phase_provider --ros-args -r fsr:=/sensors/fsr

Make robot crouch with:

ros2 topic pub --once /motion/sole_poses biped_interfaces/msg/SolePoses "
l_sole:
  position:
    y: 0.05
    z: -0.315
r_sole:
  position:
    y: -0.05
    z: -0.315
"

Start the walk node:

ros2 run walk walk

Start teleop to control the robot:

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=target

Start debugging with rqt using an layout for debugging the walk:

rqt --perspective-file $(ros2 pkg prefix --share walk)/perspective/walk/walk.perspective

Additional Instructions

To abort the walk immediately:

ros2 service call /abort std_srvs/srv/Empty