Protobot_dog仿真程序

Rviz

Gazebo

protobot_dog_description: 模型文件package
protobot_dog_leg_ik: 狗腿姿态逆解package,订阅落脚点topic，发布关节位置命令topic
protobot_dog_controll: 狗行走四条腿轨迹控制package，发布每一条腿的落脚点轨迹topic
protobot_dog_simulation: 启动Gazebo并加载关节控制器package，订阅每一关节位置命令topic

Step1:安装

1. 网页下载
2. git下载

git clone https://github.com/MapleHan/protobot_dog.git

Step2:运行

1. 启动Gazebo，默认暂停仿真

roslaunch protobot_dog_simulation protobot_dog_simulation.launch

2. 启动真实狗

roslaunch protobot_dog_bringup bring_up.launch

3. 启动运动学逆解程序

roslaunch protobot_dog_leg_ik protobot_dog_leg_ik.launch

4. 发布运动轨迹

   1. 上下蹲起

   rosrun protobot_dog_controll simple_demo.py

   

   2. walk

   rosrun protobot_dog_controll walk_demo.py

   

   3. trot

   rosrun protobot_dog_controll trot_demo.py