bioloid_common

This ROS package contains description's files to simulates and visualizes the bioloid humanoid robot.

ROS Dependecies

Install message-to-tf to convert odometry to tf:

$ sudo apt install ros-kinetic-message-to-tf

Case you are using ROS melodic you can download this package from here.

RViz Usage

Standalone (using TF transform from fake joint state publisher GUI):

$ roslaunch bioloid_description rviz.launch standalone:=true

With ros control (using TF from robot joint publisher's joint state from ros control):

$ roslaunch bioloid_description rviz.launch

Gazebo Usage

You can launch the simulation with:

$ roslaunch bioloid_gazebo gazebo.launch

PRESS PLAY IN GAZEBO ONLY WHEN EVERYTHING IS LOADED (wait for controllers)

If you want to launch gazebo headless (without GUI) uses:

$ roslaunch bioloid_gazebo gazebo.launch uses_gui:=false

In order to move the joints using trajectory controller uses:

rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller

To start the simulation call this service:

$ rosservice call /gazebo/unpause_physics "{}" 

Topics

$ rostopic list
  /clock
  /rosout
  /rosout_agg
  /tf
  /tf_static
  /typea/footl_contact_sensor_state
  /typea/footr_contact_sensor_state
  /typea/imu
  /typea/joint_states
  /typea/joint_trajectory_controller/command
  /typea/joint_trajectory_controller/follow_joint_trajectory/cancel
  /typea/joint_trajectory_controller/follow_joint_trajectory/feedback
  /typea/joint_trajectory_controller/follow_joint_trajectory/goal
  /typea/joint_trajectory_controller/follow_joint_trajectory/result
  /typea/joint_trajectory_controller/follow_joint_trajectory/status
  /typea/joint_trajectory_controller/state
  /typea/odom