https://github.com/advrhumanoids/horizon_walk_docker
https://github.com/advrhumanoids/horizon_walk_docker
Last synced: 5 months ago
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- Host: GitHub
- URL: https://github.com/advrhumanoids/horizon_walk_docker
- Owner: ADVRHumanoids
- Created: 2025-01-14T13:38:56.000Z (over 1 year ago)
- Default Branch: master
- Last Pushed: 2025-02-19T13:47:13.000Z (over 1 year ago)
- Last Synced: 2025-09-09T00:24:56.349Z (9 months ago)
- Language: Dockerfile
- Size: 14.6 KB
- Stars: 1
- Watchers: 3
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# horizon_walk_docker
## Run simulator
1) open mujoco and load talos:
```
roslaunch talos_horizon talos_simulator.launch
```
3) load xbot config file:
```
roscd talos_cartesio_config/mujoco/xbot2
set_xbot2_config talos.yaml
```
4) start xbot2:
```
xbot2-core
```
5) move the robot in the homig configuration and set the sim time as the default one:
```
rosservice call /xbotcore/homing/switch "data: true"
rosparam set /use_sim_time true
6) start the controller:
```
roslaunch talos_horizon talos_controller xbot:=true
```
*NB:* if you don't have a joystick plugged you can run the controller with the argument `joy:=false` and move the robot around using the ros services/topics:
```
# set velocity reference
rostopic pub /horizon/base_velocity/reference geometry_msgs/Twist "linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0"
# start/stop walking
rosservice call /horizon/walk/switch "data: true/false"
```
## Run on the robot
After initialized the robot and set up the ros communication with the ros master running on the robot, simply run the controller:
```
roslaunch talos_horizon talos_controller.launch talos:=true
```
Follow steps above if you do not have a joystick plugged