├── .gitignore ├── LICENSE ├── README.md └── cyberdog_sim.repos /.gitignore: -------------------------------------------------------------------------------- 1 | build/ 2 | install/ 3 | log/ 4 | src/ 5 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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依赖安装 10 | 运行仿真平台需要安装如下的依赖 11 | **ros2_Galactic** 12 | ``` 13 | $ sudo apt update && sudo apt install curl gnupg lsb-release 14 | $ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg 15 | $ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null 16 | $ sudo apt update 17 | $ sudo apt install ros-galactic-desktop 18 | ``` 19 | **Gazebo** 20 | ``` 21 | $ curl -sSL http://get.gazebosim.org | sh 22 | $ sudo apt install ros-galactic-gazebo-ros 23 | $ sudo apt install ros-galactic-gazebo-msgs 24 | ``` 25 | **LCM** 26 | ``` 27 | $ git clone https://github.com/lcm-proj/lcm.git 28 | $ cd lcm 29 | $ mkdir build 30 | $ cd build 31 | $ cmake -DLCM_ENABLE_JAVA=ON .. 32 | $ make 33 | $ sudo make install 34 | ``` 35 | **Eigen** 36 | ``` 37 | $ git clone https://github.com/eigenteam/eigen-git-mirror 38 | $ cd eigen-git-mirror 39 | $ mkdir build 40 | $ cd build 41 | $ cmake .. 42 | $ sudo make install 43 | ``` 44 | **xacro** 45 | ``` 46 | $ sudo apt install ros-galactic-xacro 47 | ``` 48 | 49 | **vcstool** 50 | ``` 51 | $ sudo apt install python3-vcstool 52 | ``` 53 | 54 | **colcon** 55 | ``` 56 | $ sudo apt install python3-colcon-common-extensions 57 | ``` 58 | 59 | 注意：若环境中安装有其他版本的yaml-cpp，可能会与ros galactic 自带的yaml-cpp发生冲突，建议编译时环境中无其他版本yaml-cpp 60 | 61 | ## 下载 62 | ``` 63 | $ git clone https://github.com/MiRoboticsLab/cyberdog_sim.git 64 | $ cd cyberdog_sim 65 | $ vcs import < cyberdog_sim.repos 66 | ``` 67 | ## 编译 68 | 需要将src/cyberdog locomotion/CMakeLists.txt中的BUILD_ROS置为ON 69 | 需要在cyberdog_sim文件夹下进行编译 70 | ``` 71 | $ source /opt/ros/galactic/setup.bash 72 | $ colcon build --merge-install --symlink-install --packages-up-to cyberdog_locomotion cyberdog_simulator 73 | ``` 74 | 75 | ## 使用 76 | 需要在cyberdog_sim文件夹下运行 77 | ``` 78 | $ python3 src/cyberdog_simulator/cyberdog_gazebo/script/launchsim.py 79 | ``` 80 | 81 | ### 也可以通过以下命令分别运行各程序： 82 | 83 | 首先启动gazebo程序，于cyberdog_sim文件夹下进行如下操作： 84 | ``` 85 | $ source /opt/ros/galactic/setup.bash 86 | $ source install/setup.bash 87 | $ ros2 launch cyberdog_gazebo gazebo.launch.py 88 | ``` 89 | 也可通过如下命令打开激光雷达 90 | ``` 91 | $ source /opt/ros/galactic/setup.bash 92 | $ source install/setup.bash 93 | $ ros2 launch cyberdog_gazebo gazebo.launch.py use_lidar:=true 94 | ``` 95 | 96 | 然后启动cyberdog_locomotion的控制程序。打开cyberdog_sim文件夹新终端 97 | ``` 98 | $ source /opt/ros/galactic/setup.bash 99 | $ source install/setup.bash 100 | $ ros2 launch cyberdog_gazebo cyberdog_control_launch.py 101 | ``` 102 | 103 | 最后打开可视化界面，于cyberdog_sim文件夹下进行如下操作： 104 | ``` 105 | $ source /opt/ros/galactic/setup.bash 106 | $ source install/setup.bash 107 | $ ros2 launch cyberdog_visual cyberdog_visual.launch.py 108 | ``` 109 | 110 | ### 播放实机lcm log数据 111 | 该平台能够通过rviz2将实机的运动控制lcm数据进行播放和可视化。 112 | 操作方法如下： 113 | 运行lcm数据可视化界面，于cyberdog_sim文件夹下进行如下操作： 114 | ``` 115 | $ source /opt/ros/galactic/setup.bash 116 | $ source install/setup.bash 117 | $ ros2 launch cyberdog_visual cyberdog_lcm_repaly.launch.py 118 | ``` 119 | 打开可视化界面后，通过运行cyberdog_locomotion仓的script目录下的脚本播放lcm log数据。 120 | 于cyberdog_sim文件夹下进行如下操作： 121 | ``` 122 | $ cd src/cyberdog_locomotion/scripts 123 | $ ./make_types.sh #初次使用时需要运行 124 | $ ./launch_lcm_logplayer.sh 125 | ``` 126 | 运行后选择需要播放的lcm log文件，即可进行log数据的播放，此时通过rviz可视化界面能复现机器人的姿态。 127 | 128 | 129 | 130 | 131 | 132 | 133 | -------------------------------------------------------------------------------- /cyberdog_sim.repos: -------------------------------------------------------------------------------- 1 | repositories: 2 | src/cyberdog_simulator: 3 | type: git 4 | url: https://github.com/MiRoboticsLab/cyberdog_simulator.git 5 | version: main 6 | src/cyberdog_locomotion: 7 | type: git 8 | url: https://github.com/MiRoboticsLab/cyberdog_locomotion.git 9 | version: master 10 | 11 | 12 | --------------------------------------------------------------------------------