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Commit 8df888d7 authored by Sergi Hernandez's avatar Sergi Hernandez
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Added a new motion file with steps to go up and down stairs. 

Added a new argument to simulation launch files to change the motion file used.
Added the inertia information to the staits STL file.
parent 0daf6c3b
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bioloid_apps/launch/ceabot/ceabot_base.launch
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− 0
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<launch>
<arg name="robot" default="bioloid_ceabot" />
<arg name="mtn_file" default="bio_prm_humanoidtypea_en" />
<include file="$(find bioloid_description)/launch/bioloid_cm510_sim.launch">
<arg name="robot" value="$(arg robot)" />
<arg name="mtn_file" value="$(arg mtn_file)" />
</include>
<!-- launch the action client node -->
......
bioloid_apps/launch/ceabot/ceabot_obstacles.launch
+ 3
− 1
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......@@ -2,9 +2,11 @@
<arg name="robot" default="bioloid_ceabot" />
<arg name="environment" default="obstacles_env" />
<arg name="mtn_file" default="bio_prm_humanoidtypea_en" />
<include file="$(find bioloid_apps)/launch/ceabot/ceabot_base.launch">
<arg name="robot" value="$(arg robot)" />
<arg name="robot" value="$(arg robot)"/>
<arg name="mtn_file" value="$(arg mtn_file)"/>
</include>
<include file="$(find bioloid_description)/launch/obstacles_env.launch">
......
bioloid_apps/launch/ceabot/ceabot_stairs.launch
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− 1
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......@@ -2,9 +2,11 @@
<arg name="robot" default="bioloid_ceabot" />
<arg name="environment" default="stairs_env" />
<arg name="mtn_file" default="bio_prm_humanoidtypea_en" />
<include file="$(find bioloid_apps)/launch/ceabot/ceabot_base.launch">
<arg name="robot" value="$(arg robot)" />
<arg name="robot" value="$(arg robot)"/>
<arg name="mtn_file" value="$(arg mtn_file)"/>
</include>
<include file="$(find bioloid_description)/launch/stairs_env.launch">
......
bioloid_apps/launch/ceabot/ceabot_vision.launch
+ 3
− 1
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......@@ -2,9 +2,11 @@
<arg name="robot" default="bioloid_ceabot" />
<arg name="environment" default="vision_env" />
<arg name="mtn_file" default="bio_prm_humanoidtypea_en" />
<include file="$(find bioloid_apps)/launch/ceabot/ceabot_base.launch">
<arg name="robot" value="$(arg robot)" />
<arg name="robot" value="$(arg robot)"/>
<arg name="mtn_file" value="$(arg mtn_file)"/>
</include>
<include file="$(find bioloid_description)/launch/vision_env.launch">
......
bioloid_control/launch/bioloid_cm510_control.launch
+ 3
− 1
View file @ 8df888d7
<launch>
<arg name="mtn_file" default="bio_prm_humanoidtypea_en" />
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find bioloid_control)/config/bioloid_cm510_control.yaml" command="load"/>
<param name="motions_file" value="$(find bioloid_controller_cm510)/motions/bio_prm_humanoidtypea_en.mtn"/>
<param name="motions_file" value="$(find bioloid_controller_cm510)/motions/$(arg mtn_file).mtn"/>
<!-- load the controllers -->
<node name="controller_spawner"
......
bioloid_controller_cm510/CMakeLists.txt
+ 2
− 4
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......@@ -91,8 +91,7 @@ catkin_package(
###########
SET(BIOLOID_FW_PATH ~/humanoids/cm510_controller_fw)
#SET (ProjectPath ~/Desktop/new_fw)
SET (ProjectPath ~/humanoids/cm510_controller_fw/motion/src/examples)
SET(ProjectPath ~/humanoids/cm510_controller_fw/examples)
## Specify additional locations of header files
## Your package locations should be listed before other locations
......@@ -127,8 +126,7 @@ add_library(${PROJECT_NAME} src/bioloid_controller_cm510.cpp
${BIOLOID_FW_PATH}/communications/src/dynamixel.c
${BIOLOID_FW_PATH}/communications/src/serial_console.c
# main application module
#${ProjectPath}/Compass/main.c
${ProjectPath}/sensors.c
${ProjectPath}/movements/movements.c
# AVR simulation modules
src/sim/avr_delay.c
src/sim/avr_registers.c
......
bioloid_controller_cm510/motions/stairs.mtn 0 → 100644
+ 2305
− 0
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This diff is collapsed.
bioloid_description/launch/bioloid_cm510_sim.launch
+ 4
− 1
View file @ 8df888d7
<launch>
<arg name="robot" default="bioloid_ceabot" />
<arg name="mtn_file" default="bio_prm_humanoidtypea_en" />
<include file="$(find bioloid_gazebo)/launch/bioloid_gazebo.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<include file="$(find bioloid_control)/launch/bioloid_cm510_control.launch"/>
<include file="$(find bioloid_control)/launch/bioloid_cm510_control.launch">
<arg name="mtn_file" value="$(arg mtn_file)"/>
</include>
</launch>
bioloid_description/urdf/ceabot/stairs.xacro
+ 3
− 3
View file @ 8df888d7
......@@ -6,9 +6,9 @@
<!-- obstacle -->
<link name="${name}_link">
<inertial>
<mass value="2"/>
<origin xyz="0.0 0.25 0.0" rpy="0 0 0"/>
<inertia ixx="0.05208333" ixy="0.0" ixz="0.0" iyy="0.02083333" iyz="0.0" izz="0.17708333" />
<mass value="50"/>
<origin xyz="0.0 0.01666667 0.03611111" rpy="0 0 0"/>
<inertia ixx="4.76591049" ixy="0.0" ixz="0.0" iyy="4.19646605" iyz="0.00740741" izz="8.90277778" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
......
bioloid_description/urdf/ceabot/vision_env.xacro
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......@@ -7,10 +7,10 @@
<!-- 0 45 90 135 180 225 270 315 -->
<!-- cosine: 1 0.707 0 -0.707 -1 -0.707 0 0.707 -->
<!-- sine: 0 0.707 1 0.707 0 -0.707 -1 -0.707 -->
<xacro:obstacle_vis name="obstacle1" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="0" cosine="1" sine="0" code="N1"/>
<xacro:obstacle_vis name="obstacle2" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="0.79" cosine="0.707" sine="0.707" code="N1"/>
<xacro:obstacle_vis name="obstacle3" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="3.14159" cosine="-1" sine="0" code="N1"/>
<xacro:obstacle_vis name="obstacle4" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="3.93" cosine="-0.707" sine="0.707" code="N1"/>
<xacro:obstacle_vis name="obstacle5" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="4.71" cosine="0" sine="-1" code="N1"/>
<xacro:obstacle_vis name="obstacle1" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="0" cosine="1" sine="0" code="turn_right_45"/>
<xacro:obstacle_vis name="obstacle2" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="0.79" cosine="0.707" sine="0.707" code="turn_left_180"/>
<xacro:obstacle_vis name="obstacle3" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="3.14159" cosine="-1" sine="0" code="turn_right_45"/>
<xacro:obstacle_vis name="obstacle4" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="3.93" cosine="-0.707" sine="0.707" code="turn_right_90"/>
<xacro:obstacle_vis name="obstacle5" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="4.71" cosine="0" sine="-1" code="turn_right_180"/>
</robot>
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