https://github.com/nate711/pupperv3-testing
https://github.com/nate711/pupperv3-testing
Last synced: 5 months ago
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- Host: GitHub
- URL: https://github.com/nate711/pupperv3-testing
- Owner: Nate711
- Created: 2022-08-10T17:29:42.000Z (almost 3 years ago)
- Default Branch: main
- Last Pushed: 2023-09-20T12:59:47.000Z (over 1 year ago)
- Last Synced: 2024-11-14T03:34:53.934Z (7 months ago)
- Language: C++
- Size: 5.47 MB
- Stars: 3
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# Prereqs
Install mujoco v2.2.2
Change hard-coded paths in
``src/pupper_mujoco/lib/basic_sim_node.cpp``. I would make these relative if I knew how...
# Simulation
```
colcon build
source install/local_setup.bash
ros2 run pupper_mujoco basic_sim_node_test
```
In another terminal
```
source install/local_setup.bash
ros2 run mock_controller mock_pub
```
# Write custom controller
Write a node that publishes
``JointCommand`` messages. Which for reference looks like
```
std_msgs/Header header
string[] name
float64[] kp
float64[] kd
float64[] position_target
float64[] velocity_target
float64[] feedforward_torque
```
# TODO
* Refactor everything to adopt any robot xml. Which means number of actuators can be variable. Allow plugging in a custom actuator model.
* Make the sim publish at a rate connected to sim time