{"id":19963339,"url":"https://github.com/advrhumanoids/iit-coman-ros-pkg","last_synced_at":"2025-08-21T07:40:01.902Z","repository":{"id":10751188,"uuid":"13011001","full_name":"ADVRHumanoids/iit-coman-ros-pkg","owner":"ADVRHumanoids","description":"Repository for the compliant humanoid robot COMAN from the Italian Institute of Technology.","archived":false,"fork":false,"pushed_at":"2023-07-16T10:19:49.000Z","size":83465,"stargazers_count":7,"open_issues_count":4,"forks_count":6,"subscribers_count":13,"default_branch":"master","last_synced_at":"2024-02-05T12:57:24.225Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Shell","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":"jekyll/jekyll","license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ADVRHumanoids.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2013-09-22T09:34:03.000Z","updated_at":"2023-07-16T10:19:54.000Z","dependencies_parsed_at":"2023-10-20T16:22:09.566Z","dependency_job_id":null,"html_url":"https://github.com/ADVRHumanoids/iit-coman-ros-pkg","commit_stats":null,"previous_names":[],"tags_count":1,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fiit-coman-ros-pkg","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fiit-coman-ros-pkg/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fiit-coman-ros-pkg/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fiit-coman-ros-pkg/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ADVRHumanoids","download_url":"https://codeload.github.com/ADVRHumanoids/iit-coman-ros-pkg/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":224374651,"owners_count":17300691,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-13T02:15:40.921Z","updated_at":"2024-11-13T02:15:41.579Z","avatar_url":"https://github.com/ADVRHumanoids.png","language":"Shell","funding_links":[],"categories":[],"sub_categories":[],"readme":"iit-coman-ros-pkg\n=================\n\nRepository for the compliant humanoid robot COMAN from the Italian Institute of Technology contains a set of ROS packages. The updated packages are ```coman_urdf```, ```coman_gazebo``` and ```coman_srdf``` while the others are no longer updated.\n\nThis repository can be used with ROS with a limited set of functionalities. \n\n#Package list:\n\ncoman_urdf: \n-----------\ncontains the urdf.xacro description of COMAN as well as files that are needed in the simulation in GAZEBO. \nEvery time one of these files are changed you have to use the script inside the script/ folder to generate. The script generates files that are used in simulation as well as files that can be used inside kinematics/dynamics libraries (coman.urdf). Running this script requires ROS and some python dependencies. You can just install a precompiled version of the urdf and sdf, though. Instructions are in the ```coman_gazebo``` section of this readme.\n\nAfter installing ros (tested on ros hydro),  make sure the dependency on BeautifulSoup4 is satisfied before using the script:\n```\nsudo easy_install beautifulsoup4\n```\nIf you have problems with this command maybe you have to install ```python``` or the package ```easy_install```.\nAfter this, you have to be sure that ```coman_urdf``` is inside your ros path.\nEither put it in your ros package path or do something like this:\n```\nexport ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/your_name/projects/walkman/iit-coman-ros-pkg\n```\n\nThe script has to be called in script/ folder:\n```\n./create_urdf_and_sdf.sh coman\n```\nIt generates the coman urdf and srdf descriptions and sdf model as specified in ```coman_config.urdf.xacro```.\n\nAfter running the script you can check the results directly by running\n```\nroslaunch coman_urdf coman_slider.launch\nrosrun rviz rviz\n```\nor directly in simulation.\n\n\ncoman_gazebo:\n-------------\ncontains files needed for the simulation as well as a launch file to start the simulation.\nThe coman_gazebo folder includes precompiled sdf and urdf files for coman, as well as many initialization files for the setting of the control parameters for the simulated robot (YARP VERSION).\nTo install these models files, you should first remove the version you already have installed (make sure to make a backup if you manually modified the configuration files)\n```\nrm -r ~/.gazebo/model/coman_urdf\n```\nAnd to install the new version, from the coman_gazebo folder, run\n```\nmkdir ~/.gazebo/models/coman_urdf\ncp -R sdf/* ~/.gazebo/models/coman_urdf/\n```\n\ncoman_srdf: \n-----------\ncontains the kinematic description of COMAN intended as number of kinematich chains and joints included in each chain. These file is automatically generated by the script considering the ```coman_config.urdf.xacro```.\n\n\ncoman_control (NO LONGER MANTAINED):\n------------------------------------\ncontains the files needed to control the robot. For now the available controller is the effort_controllers/JointPositionController. \nTo start the controller:\n```\nroslaunch coman_control coman_control.launch\n```\nIt is also implemented a node that permits to send trajectory to the robot that were previously recorded in a file, \nto run this node:\n```\nrosrun coman_control send_trajectories\n```\nin another terminal runs:\n```\nrosrun rqt_reconfigure rqt_reconfigure\n```\nremember to run this command in the same folder were is the traj.dat file. The format of this file can be found in coman_control/src.\n\ncoman_state_publisher (NO LONGER MANTAINED):\n--------------------------------------------\ncontains a node that permits to publish inside ROS the state of the real robot. Communication with COMAN occurs \nthrough xddp_sockets. This package has an external dependency against Robolli libraries. \nWe are working to make it independent. \n\ncoman_msgs (NO LONGER MANTAINED): \n---------------------------------\ncontains msgs that are used in coman_state_publisher.\n\nHow to cite this work:\n======================\nPlease support ```iit-coman-ros-pkg``` development by referencing it in your works/publications/projects with:\n```\n@Inbook{MingoHoffman2014,\n  author=\"Mingo Hoffman, Enrico and Traversaro, Silvio and Rocchi, Alessio and Ferrati, Mirko and Settimi, Alessandro and Romano, Francesco and Natale, Lorenzo and Bicchi, Antonio and Nori, Francesco and Tsagarakis, Nikos G.\",\n  editor=\"Hodicky, Jan\",\n  title=\"Yarp Based Plugins for Gazebo Simulator\",\n  bookTitle=\"Modelling and Simulation for Autonomous Systems: First International Workshop, MESAS 2014, Rome, Italy, May 5-6, 2014, Revised Selected Papers\",\n  year=\"2014\",\n  publisher=\"Springer International Publishing\",\n  address=\"Cham\",\n  pages=\"333--346\",\n  isbn=\"978-3-319-13823-7\",\n  doi=\"10.1007/978-3-319-13823-7_29\",\n  url=\"http://dx.doi.org/10.1007/978-3-319-13823-7_29\"\n}\n```\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fiit-coman-ros-pkg","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fadvrhumanoids%2Fiit-coman-ros-pkg","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fiit-coman-ros-pkg/lists"}