robotics-solo-quadruped-robot

Solo 8 quadruped robot is open-sourced by the Open Dynamic Robot Initiative. See: https://open-dynamic-robot-initiative.github.io/.

This is the final project of the course: ROS2 Control Framework by The Construct. See: the.construct.ai.

The goal is to move the legs of the robot in a specific way using ros2_control.

Source of the urdf model

https://github.com/open-dynamic-robot-initiative/robot_properties_solo/tree/master

How to run

Build repository

cd robotics-solo-quadruped-robot
colcon build
source install/setup.bash

Display in RViz

ros2 launch solo_description display.launch.py

Run in gazebo

ros2 launch solo_description gazebo.launch.py

Spin up controllers

There is joint_trajectory_controller (See: https://control.ros.org/humble/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.html) used to control the legs of the robot. Spin up the controller with:

ros2 launch solo_controller controllers.launch.py

How to test

After spinning up controllers, there is solo_controller of type joint_trajectory_controller. It listens to the topic: /solo_controller/joint_trajectory. You can send trajectory_msgs/msg/JointTrajectory message, for example:

ros2 topic pub /solo_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory "header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: ''
joint_names: ['FL_HFE', 'FL_KFE', 'FR_HFE', 'FR_KFE','HL_HFE','HL_KFE','HR_HFE','HR_KFE']
points: [{positions: [1.57, -3.14, 1.57, -3.14, -1.57, 3.14, -1.57, 3.14], time_from_start: {sec: 4}}]"  -1

ros2 topic pub /solo_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory "header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: ''
joint_names: ['FL_HFE', 'FL_KFE', 'FR_HFE', 'FR_KFE','HL_HFE','HL_KFE','HR_HFE','HR_KFE']
points: [{positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], time_from_start: {sec: 4}}]"  -1