Blackbird Simulation with Gazebo Harmonic

Gazebo Simulation of the blackbird bipedal robot, as seen here

Utilizes ROS2 as the robot's middleware, with ros2_control for the joint controllers

Dependencies

ros2 jazzy (works on humble aswell)
ros2_control
gz_ros2_control
Gazebo Harmonic

Rviz

please run ros2 launch blackbird_ros2 blackbird_rviz.launch.py

Gazebo simulation

Please run export GZ_SIM_RESOURCE_PATH=<ROS2 WORKSPACE PATH>/src/blackbird_ros2

Example: export GZ_SIM_RESOURCE_PATH=~/ros2_ws/src/blackbird_ros2

then run from your workspace directory: ros2 launch blackbird_ros2 blackbird_gz.launch.py

don't forget

export GZ_SIM_SYSTEM_PLUGIN_PATH=~/ros2_ws/install/blackbird_ros2/lib/blackbird_ros2

Extra topics

PosePublisher

Extract pose information from the blackbird entity, as calculated in the Gazebo simulation.

Testing Controllers

run either ros2 run blackbird_ros2 effort_example or ros2 run blackbird_ros2 reverse_effort

Future Work

Develop a control policy that takes in information from the /torso_pose topic,