├── .gitignore ├── README.md ├── configs ├── a1_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── aliengo_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── anymal_b_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── anymal_c_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── astro_config │ ├── CMakeLists.txt │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ └── navigation │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── include │ │ │ ├── navigation │ │ │ │ ├── amcl.launch │ │ │ │ └── move_base.launch │ │ │ └── slam │ │ │ │ ├── gmapping.launch │ │ │ │ ├── hector_mapping.launch │ │ │ │ └── octomap.launch │ │ ├── navigate.launch │ │ └── slam.launch │ ├── maps │ │ ├── map.pgm │ │ ├── map.yaml │ │ ├── octomap.ot │ │ ├── octomap.pgm │ │ └── octomap.yaml │ ├── package.xml │ ├── setup.bash │ └── urdf │ │ └── quadruped.urdf ├── bruno_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ ├── urdf │ │ └── quadruped.urdf │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── dkitty_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── dream_walker_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── go1_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ ├── outdoor.world │ │ └── playground.world ├── littledog_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── mini_cheetah_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── mini_pupper_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── open_quadruped_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── opendog_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── spot_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── spotmicro_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ ├── hardware.yaml │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── position_controllers.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── stanford_pupper_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world └── stochlite_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ ├── gait │ │ └── gait.yaml │ ├── joints │ │ └── joints.yaml │ ├── links │ │ └── links.yaml │ ├── move_base │ │ ├── base_local_planner_holonomic_params.yaml │ │ ├── costmap_common_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ └── move_base_params.yaml │ └── ros_control │ │ └── ros_control.yaml │ ├── include │ ├── gait_config.h │ ├── hardware_config.h │ └── quadruped_description.h │ ├── launch │ ├── bringup.launch │ ├── gazebo.launch │ ├── include │ │ ├── amcl.launch │ │ ├── gmapping.launch │ │ └── move_base.launch │ ├── navigate.launch │ ├── slam.launch │ └── spawn_robot.launch │ ├── maps │ ├── map.pgm │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ ├── default.world │ └── outdoor.world ├── install_descriptions └── update_robots /.gitignore: -------------------------------------------------------------------------------- 1 | descriptions -------------------------------------------------------------------------------- /configs/a1_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(a1_config) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() -------------------------------------------------------------------------------- /configs/a1_config/config/gait/gait.yaml: -------------------------------------------------------------------------------- 1 | knee_orientation : ">>" 2 | pantograph_leg : false 3 | odom_scaler: 1.0 4 | max_linear_velocity_x : 0.5 5 | max_linear_velocity_y : 0.25 6 | max_angular_velocity_z : 1.0 7 | com_x_translation : 0.0 8 | swing_height : 0.04 9 | stance_depth : 0.0 10 | stance_duration : 0.25 11 | nominal_height : 0.2 -------------------------------------------------------------------------------- /configs/a1_config/config/joints/joints.yaml: -------------------------------------------------------------------------------- 1 | left_front: 2 | - FL_hip_joint 3 | - FL_thigh_joint 4 | - FL_calf_joint 5 | - FL_foot_fixed 6 | 7 | right_front: 8 | - FR_hip_joint 9 | - FR_thigh_joint 10 | - FR_calf_joint 11 | - FR_foot_fixed 12 | 13 | left_hind: 14 | - RL_hip_joint 15 | - RL_thigh_joint 16 | - RL_calf_joint 17 | - RL_foot_fixed 18 | 19 | right_hind: 20 | - RR_hip_joint 21 | - RR_thigh_joint 22 | - RR_calf_joint 23 | - RR_foot_fixed -------------------------------------------------------------------------------- /configs/a1_config/config/links/links.yaml: -------------------------------------------------------------------------------- 1 | base: base 2 | left_front: 3 | - FL_hip 4 | - FL_thigh 5 | - FL_calf 6 | - FL_foot 7 | 8 | right_front: 9 | - FR_hip 10 | - FR_thigh 11 | - FR_calf 12 | - FR_foot 13 | 14 | left_hind: 15 | - RL_hip 16 | - RL_thigh 17 | - RL_calf 18 | - RL_foot 19 | 20 | right_hind: 21 | - RR_hip 22 | - RR_thigh 23 | - RR_calf 24 | - RR_foot -------------------------------------------------------------------------------- /configs/a1_config/config/move_base/base_local_planner_holonomic_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | #http://wiki.ros.org/dwa_local_planner 3 | 4 | min_vel_trans: 0.01 5 | max_vel_trans: 0.5 6 | 7 | min_vel_x: -0.025 8 | max_vel_x: 0.5 9 | 10 | min_vel_y: 0.0 11 | max_vel_y: 0.0 12 | 13 | max_vel_rot: 1.0 14 | min_vel_rot: -1.0 15 | 16 | acc_lim_trans: 1.7 17 | acc_lim_x: 1.7 18 | acc_lim_y: 0.0 19 | acc_lim_theta: 3 20 | 21 | trans_stopped_vel: 0.1 22 | theta_stopped_vel: 0.1 23 | 24 | xy_goal_tolerance: 0.25 25 | yaw_goal_tolerance: 0.34 26 | 27 | sim_time: 3.5 28 | sim_granularity: 0.1 29 | vx_samples: 20 30 | vy_samples: 0 31 | vth_samples: 40 32 | 33 | path_distance_bias: 34.0 34 | goal_distance_bias: 24.0 35 | occdist_scale: 0.05 36 | 37 | forward_point_distance: 0.2 38 | stop_time_buffer: 0.5 39 | scaling_speed: 0.25 40 | max_scaling_factor: 0.2 41 | 42 | oscillation_reset_dist: 0.05 43 | 44 | use_dwa: true 45 | 46 | prune_plan: false 47 | -------------------------------------------------------------------------------- /configs/a1_config/config/move_base/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]] 4 | 5 | transform_tolerance: 0.5 6 | resolution: 0.05 7 | 8 | static_map_layer: 9 | map_topic: map 10 | subscribe_to_updates: true 11 | 12 | 2d_obstacles_layer: 13 | observation_sources: scan 14 | scan: {data_type: LaserScan, 15 | topic: scan, 16 | marking: true, 17 | clearing: true} 18 | 19 | 3d_obstacles_layer: 20 | observation_sources: depth 21 | depth: {data_type: PointCloud2, 22 | topic: camera/depth/points, 23 | min_obstacle_height: 0.1, 24 | marking: true, 25 | clearing: true} 26 | 27 | inflation_layer: 28 | inflation_radius: 2.0 -------------------------------------------------------------------------------- /configs/a1_config/config/move_base/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | cost_scaling_factor: 10.0 8 | 9 | plugins: 10 | - {name: static_map_layer, type: "costmap_2d::StaticLayer"} 11 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 12 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 13 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 14 | -------------------------------------------------------------------------------- /configs/a1_config/config/move_base/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 2.0 6 | 7 | static_map: false 8 | rolling_window: true 9 | width: 2.5 10 | height: 2.5 11 | cost_scaling_factor: 5 12 | 13 | plugins: 14 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 15 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 16 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 17 | -------------------------------------------------------------------------------- /configs/a1_config/config/move_base/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | base_local_planner: dwa_local_planner/DWAPlannerROS 3 | 4 | shutdown_costmaps: false 5 | 6 | controller_frequency: 10.0 #5 7 | controller_patience: 3.0 8 | 9 | planner_frequency: 0.5 10 | planner_patience: 5.0 11 | 12 | oscillation_timeout: 10.0 13 | oscillation_distance: 0.2 14 | 15 | conservative_reset_dist: 0.1 -------------------------------------------------------------------------------- /configs/a1_config/config/ros_control/ros_control.yaml: -------------------------------------------------------------------------------- 1 | "": 2 | joint_states_controller: 3 | type: joint_state_controller/JointStateController 4 | publish_rate: 50 5 | 6 | joint_group_position_controller: 7 | type: effort_controllers/JointTrajectoryController 8 | joints: 9 | - FL_hip_joint 10 | - FL_thigh_joint 11 | - FL_calf_joint 12 | - FR_hip_joint 13 | - FR_thigh_joint 14 | - FR_calf_joint 15 | - RL_hip_joint 16 | - RL_thigh_joint 17 | - RL_calf_joint 18 | - RR_hip_joint 19 | - RR_thigh_joint 20 | - RR_calf_joint 21 | 22 | gains: 23 | FL_hip_joint : {p: 180, d: 0.9, i: 20} 24 | FL_thigh_joint : {p: 180, d: 0.9, i: 20} 25 | FL_calf_joint : {p: 180, d: 0.9, i: 20} 26 | FR_hip_joint : {p: 180, d: 0.9, i: 20} 27 | FR_thigh_joint : {p: 180, d: 0.9, i: 20} 28 | FR_calf_joint : {p: 180, d: 0.9, i: 20} 29 | RL_hip_joint : {p: 180, d: 0.9, i: 20} 30 | RL_thigh_joint : {p: 180, d: 0.9, i: 20} 31 | RL_calf_joint : {p: 180, d: 0.9, i: 20} 32 | RR_hip_joint : {p: 180, d: 0.9, i: 20} 33 | RR_thigh_joint : {p: 180, d: 0.9, i: 20} 34 | RR_calf_joint : {p: 180, d: 0.9, i: 20} 35 | -------------------------------------------------------------------------------- /configs/a1_config/include/gait_config.h: -------------------------------------------------------------------------------- 1 | #ifndef GAIT_CONFIG_H 2 | #define GAIT_CONFIG_H 3 | 4 | #define KNEE_ORIENTATION ">>" 5 | #define PANTOGRAPH_LEG false 6 | #define ODOM_SCALER 1.0 7 | #define MAX_LINEAR_VELOCITY_X 0.5 8 | #define MAX_LINEAR_VELOCITY_Y 0.25 9 | #define MAX_ANGULAR_VELOCITY_Z 1.0 10 | #define COM_X_TRANSLATION 0.0 11 | #define SWING_HEIGHT 0.04 12 | #define STANCE_DEPTH 0.0 13 | #define STANCE_DURATION 0.25 14 | #define NOMINAL_HEIGHT 0.2 15 | 16 | #endif -------------------------------------------------------------------------------- /configs/a1_config/include/quadruped_description.h: -------------------------------------------------------------------------------- 1 | #ifndef QUADRUPED_DESCRIPTION_H 2 | #define QUADRUPED_DESCRIPTION_H 3 | 4 | #include 5 | 6 | namespace champ 7 | { 8 | namespace URDF 9 | { 10 | void loadFromHeader(champ::QuadrupedBase &base) 11 | { 12 | base.lf.hip.setOrigin(0.1805, 0.047, 0.0, 0.0, 0.0, 0.0); 13 | base.lf.upper_leg.setOrigin(0.0, 0.0838, -0.0, 0.0, 0.0, 0.0); 14 | base.lf.lower_leg.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0); 15 | base.lf.foot.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0); 16 | 17 | base.rf.hip.setOrigin(0.1805, -0.047, 0.0, 0.0, 0.0, 0.0); 18 | base.rf.upper_leg.setOrigin(0.0, -0.0838, -0.0, 0.0, 0.0, 0.0); 19 | base.rf.lower_leg.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0); 20 | base.rf.foot.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0); 21 | 22 | base.lh.hip.setOrigin(-0.1805, 0.047, 0.0, 0.0, 0.0, 0.0); 23 | base.lh.upper_leg.setOrigin(0.0, 0.0838, -0.0, 0.0, 0.0, 0.0); 24 | base.lh.lower_leg.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0); 25 | base.lh.foot.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0); 26 | 27 | base.rh.hip.setOrigin(-0.1805, -0.047, 0.0, 0.0, 0.0, 0.0); 28 | base.rh.upper_leg.setOrigin(0.0, -0.0838, -0.0, 0.0, 0.0, 0.0); 29 | base.rh.lower_leg.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0); 30 | base.rh.foot.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0); 31 | } 32 | } 33 | } 34 | #endif -------------------------------------------------------------------------------- /configs/a1_config/launch/navigate.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 29 | 30 | -------------------------------------------------------------------------------- /configs/a1_config/launch/slam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 22 | 23 | -------------------------------------------------------------------------------- /configs/a1_config/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/a1_config/maps/map.pgm -------------------------------------------------------------------------------- /configs/a1_config/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/a1_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | a1_config 4 | 0.1.0 5 | a1 Champ Config Package 6 | 7 | Juan Miguel Jimeno 8 | Juan Miguel Jimeno 9 | 10 | BSD 11 | 12 | catkin 13 | roslaunch 14 | rviz 15 | champ_base 16 | 17 | -------------------------------------------------------------------------------- /configs/a1_config/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 4 | export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include 5 | 6 | bash -i -------------------------------------------------------------------------------- /configs/aliengo_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(aliengo_config) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() -------------------------------------------------------------------------------- /configs/aliengo_config/config/gait/gait.yaml: -------------------------------------------------------------------------------- 1 | knee_orientation : ">>" 2 | pantograph_leg : false 3 | odom_scaler: 0.9 4 | max_linear_velocity_x : 1.5 5 | max_linear_velocity_y : 0.25 6 | max_angular_velocity_z : 1.0 7 | com_x_translation : -0.05 8 | swing_height : 0.06 9 | stance_depth : 0.0 10 | stance_duration : 0.4 11 | nominal_height : 0.35 -------------------------------------------------------------------------------- /configs/aliengo_config/config/joints/joints.yaml: -------------------------------------------------------------------------------- 1 | left_front: 2 | - FL_hip_joint 3 | - FL_thigh_joint 4 | - FL_calf_joint 5 | - FL_foot_fixed 6 | 7 | right_front: 8 | - FR_hip_joint 9 | - FR_thigh_joint 10 | - FR_calf_joint 11 | - FR_foot_fixed 12 | 13 | left_hind: 14 | - RL_hip_joint 15 | - RL_thigh_joint 16 | - RL_calf_joint 17 | - RL_foot_fixed 18 | 19 | right_hind: 20 | - RR_hip_joint 21 | - RR_thigh_joint 22 | - RR_calf_joint 23 | - RR_foot_fixed -------------------------------------------------------------------------------- /configs/aliengo_config/config/links/links.yaml: -------------------------------------------------------------------------------- 1 | base: base 2 | left_front: 3 | - FL_hip 4 | - FL_thigh 5 | - FL_calf 6 | - FL_foot 7 | 8 | right_front: 9 | - FR_hip 10 | - FR_thigh 11 | - FR_calf 12 | - FR_foot 13 | 14 | left_hind: 15 | - RL_hip 16 | - RL_thigh 17 | - RL_calf 18 | - RL_foot 19 | 20 | right_hind: 21 | - RR_hip 22 | - RR_thigh 23 | - RR_calf 24 | - RR_foot -------------------------------------------------------------------------------- /configs/aliengo_config/config/move_base/base_local_planner_holonomic_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | #http://wiki.ros.org/dwa_local_planner 3 | 4 | min_vel_trans: 0.01 5 | max_vel_trans: 0.5 6 | 7 | min_vel_x: -0.025 8 | max_vel_x: 0.5 9 | 10 | min_vel_y: 0.0 11 | max_vel_y: 0.0 12 | 13 | max_vel_rot: 1.0 14 | min_vel_rot: -1.0 15 | 16 | acc_lim_trans: 2.5 17 | acc_lim_x: 2.5 18 | acc_lim_y: 0.0 19 | acc_lim_theta: 6 20 | 21 | trans_stopped_vel: 0.1 22 | theta_stopped_vel: 0.1 23 | 24 | xy_goal_tolerance: 0.25 25 | yaw_goal_tolerance: 0.34 26 | 27 | sim_time: 3.5 28 | sim_granularity: 0.1 29 | vx_samples: 20 30 | vy_samples: 0 31 | vth_samples: 40 32 | 33 | path_distance_bias: 34.0 34 | goal_distance_bias: 24.0 35 | occdist_scale: 0.05 36 | 37 | forward_point_distance: 0.2 38 | stop_time_buffer: 0.5 39 | scaling_speed: 0.25 40 | max_scaling_factor: 0.2 41 | 42 | oscillation_reset_dist: 0.05 43 | 44 | use_dwa: true 45 | 46 | prune_plan: false 47 | -------------------------------------------------------------------------------- /configs/aliengo_config/config/move_base/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]] 4 | 5 | transform_tolerance: 0.5 6 | resolution: 0.05 7 | 8 | static_map_layer: 9 | map_topic: map 10 | subscribe_to_updates: true 11 | 12 | 2d_obstacles_layer: 13 | observation_sources: scan 14 | scan: {data_type: LaserScan, 15 | topic: scan, 16 | marking: true, 17 | clearing: true} 18 | 19 | 3d_obstacles_layer: 20 | observation_sources: depth 21 | depth: {data_type: PointCloud2, 22 | topic: camera/depth/points, 23 | min_obstacle_height: 0.1, 24 | marking: true, 25 | clearing: true} 26 | 27 | inflation_layer: 28 | inflation_radius: 2.0 -------------------------------------------------------------------------------- /configs/aliengo_config/config/move_base/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | cost_scaling_factor: 10.0 8 | 9 | plugins: 10 | - {name: static_map_layer, type: "costmap_2d::StaticLayer"} 11 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 12 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 13 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 14 | -------------------------------------------------------------------------------- /configs/aliengo_config/config/move_base/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 2.0 6 | 7 | static_map: false 8 | rolling_window: true 9 | width: 2.5 10 | height: 2.5 11 | cost_scaling_factor: 5 12 | 13 | plugins: 14 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 15 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 16 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 17 | -------------------------------------------------------------------------------- /configs/aliengo_config/config/move_base/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | base_local_planner: dwa_local_planner/DWAPlannerROS 3 | 4 | shutdown_costmaps: false 5 | 6 | controller_frequency: 5.0 7 | controller_patience: 3.0 8 | 9 | planner_frequency: 0.5 10 | planner_patience: 5.0 11 | 12 | oscillation_timeout: 10.0 13 | oscillation_distance: 0.2 14 | 15 | conservative_reset_dist: 0.1 -------------------------------------------------------------------------------- /configs/aliengo_config/config/ros_control/ros_control.yaml: -------------------------------------------------------------------------------- 1 | "": 2 | joint_states_controller: 3 | type: joint_state_controller/JointStateController 4 | publish_rate: 200 5 | 6 | joint_group_position_controller: 7 | type: effort_controllers/JointTrajectoryController 8 | joints: 9 | - FL_hip_joint 10 | - FL_thigh_joint 11 | - FL_calf_joint 12 | - FR_hip_joint 13 | - FR_thigh_joint 14 | - FR_calf_joint 15 | - RL_hip_joint 16 | - RL_thigh_joint 17 | - RL_calf_joint 18 | - RR_hip_joint 19 | - RR_thigh_joint 20 | - RR_calf_joint 21 | 22 | gains: 23 | FR_hip_joint : {p: 200, i: 0, d: 15} 24 | FR_thigh_joint : {p: 200, i: 0, d: 15} 25 | FR_calf_joint : {p: 200, i: 0, d: 15} 26 | FL_hip_joint : {p: 200, i: 0, d: 15} 27 | FL_thigh_joint : {p: 200, i: 0, d: 15} 28 | FL_calf_joint : {p: 200, i: 0, d: 15} 29 | RL_hip_joint : {p: 200, i: 0, d: 15} 30 | RL_thigh_joint : {p: 200, i: 0, d: 15} 31 | RL_calf_joint : {p: 200, i: 0, d: 15} 32 | RR_hip_joint : {p: 200, i: 0, d: 15} 33 | RR_thigh_joint : {p: 200, i: 0, d: 15} 34 | RR_calf_joint : {p: 200, i: 0, d: 15} 35 | -------------------------------------------------------------------------------- /configs/aliengo_config/include/gait_config.h: -------------------------------------------------------------------------------- 1 | #ifndef GAIT_CONFIG_H 2 | #define GAIT_CONFIG_H 3 | 4 | #define KNEE_ORIENTATION ">>" 5 | #define PANTOGRAPH_LEG false 6 | #define ODOM_SCALER 1.0 7 | #define MAX_LINEAR_VELOCITY_X 0.5 8 | #define MAX_LINEAR_VELOCITY_Y 0.25 9 | #define MAX_ANGULAR_VELOCITY_Z 1.0 10 | #define COM_X_TRANSLATION 0.0 11 | #define SWING_HEIGHT 0.04 12 | #define STANCE_DEPTH 0.0 13 | #define STANCE_DURATION 0.25 14 | #define NOMINAL_HEIGHT 0.2 15 | 16 | #endif -------------------------------------------------------------------------------- /configs/aliengo_config/include/quadruped_description.h: -------------------------------------------------------------------------------- 1 | #ifndef QUADRUPED_DESCRIPTION_H 2 | #define QUADRUPED_DESCRIPTION_H 3 | 4 | #include 5 | 6 | namespace champ 7 | { 8 | namespace URDF 9 | { 10 | void loadFromHeader(champ::QuadrupedBase &base) 11 | { 12 | base.lf.hip.setOrigin(0.2399, 0.051, 0.0, 0.0, 0.0, 0.0); 13 | base.lf.upper_leg.setOrigin(0.0, -0.083, -0.0, 0.0, 0.0, 0.0); 14 | base.lf.lower_leg.setOrigin(0.0, 0.0, -0.25, 0.0, 0.0, 0.0); 15 | base.lf.foot.setOrigin(0.0, 0.0, -0.25, 0.0, 0.0, 0.0); 16 | 17 | base.rf.hip.setOrigin(0.2399, -0.051, 0.0, 0.0, 0.0, 0.0); 18 | base.rf.upper_leg.setOrigin(0.0, 0.083, -0.0, 0.0, 0.0, 0.0); 19 | base.rf.lower_leg.setOrigin(0.0, 0.0, -0.25, 0.0, 0.0, 0.0); 20 | base.rf.foot.setOrigin(0.0, 0.0, -0.25, 0.0, 0.0, 0.0); 21 | 22 | base.lh.hip.setOrigin(-0.2399, 0.051, 0.0, 0.0, 0.0, 0.0); 23 | base.lh.upper_leg.setOrigin(0.0, 0.083, -0.0, 0.0, 0.0, 0.0); 24 | base.lh.lower_leg.setOrigin(0.0, 0.0, -0.25, 0.0, 0.0, 0.0); 25 | base.lh.foot.setOrigin(0.0, 0.0, -0.25, 0.0, 0.0, 0.0); 26 | 27 | base.rh.hip.setOrigin(-0.2399, -0.051, 0.0, 0.0, 0.0, 0.0); 28 | base.rh.upper_leg.setOrigin(0.0, -0.083, -0.0, 0.0, 0.0, 0.0); 29 | base.rh.lower_leg.setOrigin(0.0, 0.0, -0.25, 0.0, 0.0, 0.0); 30 | base.rh.foot.setOrigin(0.0, 0.0, -0.25, 0.0, 0.0, 0.0); 31 | } 32 | } 33 | } 34 | #endif -------------------------------------------------------------------------------- /configs/aliengo_config/launch/navigate.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 29 | 30 | -------------------------------------------------------------------------------- /configs/aliengo_config/launch/slam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 22 | 23 | -------------------------------------------------------------------------------- /configs/aliengo_config/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/aliengo_config/maps/map.pgm -------------------------------------------------------------------------------- /configs/aliengo_config/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/aliengo_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | aliengo_config 4 | 0.1.0 5 | aliengo Champ Config Package 6 | 7 | Juan Miguel Jimeno 8 | Juan Miguel Jimeno 9 | 10 | BSD 11 | 12 | catkin 13 | roslaunch 14 | rviz 15 | champ_base 16 | 17 | -------------------------------------------------------------------------------- /configs/aliengo_config/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 4 | export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include 5 | 6 | bash -i -------------------------------------------------------------------------------- /configs/anymal_b_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(anymal_b_config) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() -------------------------------------------------------------------------------- /configs/anymal_b_config/config/gait/gait.yaml: -------------------------------------------------------------------------------- 1 | knee_orientation : "><" 2 | pantograph_leg : false 3 | odom_scaler: 1.0 4 | max_linear_velocity_x : 0.5 5 | max_linear_velocity_y : 0.25 6 | max_angular_velocity_z : 1.0 7 | com_x_translation : 0.0 8 | swing_height : 0.05 9 | stance_depth : 0.0 10 | stance_duration : 0.3 11 | nominal_height : 0.43 -------------------------------------------------------------------------------- /configs/anymal_b_config/config/joints/joints.yaml: -------------------------------------------------------------------------------- 1 | left_front: 2 | - LF_HAA 3 | - LF_HFE 4 | - LF_KFE 5 | - LF_ADAPTER_TO_FOOT 6 | 7 | right_front: 8 | - RF_HAA 9 | - RF_HFE 10 | - RF_KFE 11 | - RF_ADAPTER_TO_FOOT 12 | 13 | left_hind: 14 | - LH_HAA 15 | - LH_HFE 16 | - LH_KFE 17 | - LH_ADAPTER_TO_FOOT 18 | 19 | right_hind: 20 | - RH_HAA 21 | - RH_HFE 22 | - RH_KFE 23 | - RH_ADAPTER_TO_FOOT -------------------------------------------------------------------------------- /configs/anymal_b_config/config/links/links.yaml: -------------------------------------------------------------------------------- 1 | base: base 2 | left_front: 3 | - LF_HIP 4 | - LF_THIGH 5 | - LF_SHANK 6 | - LF_FOOT 7 | 8 | right_front: 9 | - RF_HIP 10 | - RF_THIGH 11 | - RF_SHANK 12 | - RF_FOOT 13 | 14 | left_hind: 15 | - LH_HIP 16 | - LH_THIGH 17 | - LH_SHANK 18 | - LH_FOOT 19 | 20 | right_hind: 21 | - RH_HIP 22 | - RH_THIGH 23 | - RH_SHANK 24 | - RH_FOOT -------------------------------------------------------------------------------- /configs/anymal_b_config/config/move_base/base_local_planner_holonomic_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | #http://wiki.ros.org/dwa_local_planner 3 | 4 | min_vel_trans: 0.01 5 | max_vel_trans: 0.5 6 | 7 | min_vel_x: -0.025 8 | max_vel_x: 0.5 9 | 10 | min_vel_y: 0.0 11 | max_vel_y: 0.0 12 | 13 | max_vel_rot: 1.0 14 | min_vel_rot: -1.0 15 | 16 | acc_lim_trans: 1.7 17 | acc_lim_x: 1.7 18 | acc_lim_y: 0.0 19 | acc_lim_theta: 3 20 | 21 | trans_stopped_vel: 0.1 22 | theta_stopped_vel: 0.1 23 | 24 | xy_goal_tolerance: 0.25 25 | yaw_goal_tolerance: 0.34 26 | 27 | sim_time: 3.5 28 | sim_granularity: 0.1 29 | vx_samples: 20 30 | vy_samples: 0 31 | vth_samples: 40 32 | 33 | path_distance_bias: 34.0 34 | goal_distance_bias: 24.0 35 | occdist_scale: 0.05 36 | 37 | forward_point_distance: 0.2 38 | stop_time_buffer: 0.5 39 | scaling_speed: 0.25 40 | max_scaling_factor: 0.2 41 | 42 | oscillation_reset_dist: 0.05 43 | 44 | use_dwa: true 45 | 46 | prune_plan: false 47 | -------------------------------------------------------------------------------- /configs/anymal_b_config/config/move_base/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]] 4 | 5 | transform_tolerance: 0.5 6 | resolution: 0.05 7 | 8 | static_map_layer: 9 | map_topic: map 10 | subscribe_to_updates: true 11 | 12 | 2d_obstacles_layer: 13 | observation_sources: scan 14 | scan: {data_type: LaserScan, 15 | topic: scan, 16 | marking: true, 17 | clearing: true} 18 | 19 | 3d_obstacles_layer: 20 | observation_sources: depth 21 | depth: {data_type: PointCloud2, 22 | topic: camera/depth/points, 23 | min_obstacle_height: 0.1, 24 | marking: true, 25 | clearing: true} 26 | 27 | inflation_layer: 28 | inflation_radius: 2.0 -------------------------------------------------------------------------------- /configs/anymal_b_config/config/move_base/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | cost_scaling_factor: 10.0 8 | 9 | plugins: 10 | - {name: static_map_layer, type: "costmap_2d::StaticLayer"} 11 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 12 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 13 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 14 | -------------------------------------------------------------------------------- /configs/anymal_b_config/config/move_base/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 2.0 6 | 7 | static_map: false 8 | rolling_window: true 9 | width: 2.5 10 | height: 2.5 11 | cost_scaling_factor: 5 12 | 13 | plugins: 14 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 15 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 16 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 17 | -------------------------------------------------------------------------------- /configs/anymal_b_config/config/move_base/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | base_local_planner: dwa_local_planner/DWAPlannerROS 3 | 4 | shutdown_costmaps: false 5 | 6 | controller_frequency: 5.0 7 | controller_patience: 3.0 8 | 9 | planner_frequency: 0.5 10 | planner_patience: 5.0 11 | 12 | oscillation_timeout: 10.0 13 | oscillation_distance: 0.2 14 | 15 | conservative_reset_dist: 0.1 -------------------------------------------------------------------------------- /configs/anymal_b_config/config/ros_control/ros_control.yaml: -------------------------------------------------------------------------------- 1 | "": 2 | joint_states_controller: 3 | type: joint_state_controller/JointStateController 4 | publish_rate: 50 5 | 6 | joint_group_position_controller: 7 | type: effort_controllers/JointTrajectoryController 8 | joints: 9 | - LF_HAA 10 | - LF_HFE 11 | - LF_KFE 12 | - RF_HAA 13 | - RF_HFE 14 | - RF_KFE 15 | - LH_HAA 16 | - LH_HFE 17 | - LH_KFE 18 | - RH_HAA 19 | - RH_HFE 20 | - RH_KFE 21 | 22 | gains: 23 | LF_HAA : {p: 250, i: 0, d: 15} 24 | LF_HFE : {p: 250, i: 0, d: 15} 25 | LF_KFE : {p: 250, i: 0, d: 15} 26 | RF_HAA : {p: 250, i: 0, d: 15} 27 | RF_HFE : {p: 250, i: 0, d: 15} 28 | RF_KFE : {p: 250, i: 0, d: 15} 29 | LH_HAA : {p: 250, i: 0, d: 15} 30 | LH_HFE : {p: 250, i: 0, d: 15} 31 | LH_KFE : {p: 250, i: 0, d: 15} 32 | RH_HAA : {p: 250, i: 0, d: 15} 33 | RH_HFE : {p: 250, i: 0, d: 15} 34 | RH_KFE : {p: 250, i: 0, d: 15} 35 | -------------------------------------------------------------------------------- /configs/anymal_b_config/include/gait_config.h: -------------------------------------------------------------------------------- 1 | #ifndef GAIT_CONFIG_H 2 | #define GAIT_CONFIG_H 3 | 4 | #define KNEE_ORIENTATION "><" 5 | #define PANTOGRAPH_LEG false 6 | #define ODOM_SCALER 1.0 7 | #define MAX_LINEAR_VELOCITY_X 0.5 8 | #define MAX_LINEAR_VELOCITY_Y 0.25 9 | #define MAX_ANGULAR_VELOCITY_Z 1.0 10 | #define COM_X_TRANSLATION 0.0 11 | #define SWING_HEIGHT 0.04 12 | #define STANCE_DEPTH 0.0 13 | #define STANCE_DURATION 0.25 14 | #define NOMINAL_HEIGHT 0.4 15 | 16 | #endif -------------------------------------------------------------------------------- /configs/anymal_b_config/include/quadruped_description.h: -------------------------------------------------------------------------------- 1 | #ifndef QUADRUPED_DESCRIPTION_H 2 | #define QUADRUPED_DESCRIPTION_H 3 | 4 | #include 5 | 6 | namespace champ 7 | { 8 | namespace URDF 9 | { 10 | void loadFromHeader(champ::QuadrupedBase &base) 11 | { 12 | base.lf.hip.setOrigin(0.277, 0.116, 0.0, 0, 0, 0); 13 | base.lf.upper_leg.setOrigin(0.0635, 0.041, -0.0, 0, 0, 0); 14 | base.lf.lower_leg.setOrigin(0.0, 0.109, -0.25, 0, 0, 0); 15 | base.lf.foot.setOrigin(0.1, -0.02, -0.32125, 0.0, 0.0, 0.0); 16 | 17 | base.rf.hip.setOrigin(0.277, -0.116, 0.0, 0, 0, 0); 18 | base.rf.upper_leg.setOrigin(0.0635, -0.041, -0.0, 0, 0, 0); 19 | base.rf.lower_leg.setOrigin(0.0, -0.109, -0.25, 0, 0, 0); 20 | base.rf.foot.setOrigin(0.1, 0.02, -0.32125, 0.0, 0.0, 0.0); 21 | 22 | base.lh.hip.setOrigin(-0.277, 0.116, 0.0, 0, 0, 0); 23 | base.lh.upper_leg.setOrigin(-0.0635, 0.041, -0.0, 0, 0, 0); 24 | base.lh.lower_leg.setOrigin(0.0, 0.109, -0.25, 0, 0, 0); 25 | base.lh.foot.setOrigin(-0.1, -0.02, -0.32125, 0.0, 0.0, 0.0); 26 | 27 | base.rh.hip.setOrigin(-0.277, -0.116, 0.0, 0, 0, 0); 28 | base.rh.upper_leg.setOrigin(-0.0635, -0.041, -0.0, 0, 0, 0); 29 | base.rh.lower_leg.setOrigin(0.0, -0.109, -0.25, 0, 0, 0); 30 | base.rh.foot.setOrigin(-0.1, 0.02, -0.32125, 0.0, 0.0, 0.0); 31 | } 32 | } 33 | } 34 | #endif -------------------------------------------------------------------------------- /configs/anymal_b_config/launch/navigate.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 29 | 30 | -------------------------------------------------------------------------------- /configs/anymal_b_config/launch/slam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 22 | 23 | -------------------------------------------------------------------------------- /configs/anymal_b_config/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/anymal_b_config/maps/map.pgm -------------------------------------------------------------------------------- /configs/anymal_b_config/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/anymal_b_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | anymal_b_config 4 | 0.1.0 5 | anymal Champ Config Package 6 | 7 | Juan Miguel Jimeno 8 | Juan Miguel Jimeno 9 | 10 | BSD 11 | 12 | catkin 13 | roslaunch 14 | rviz 15 | champ_base 16 | 17 | -------------------------------------------------------------------------------- /configs/anymal_b_config/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 4 | export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include 5 | 6 | bash -i -------------------------------------------------------------------------------- /configs/anymal_c_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(anymal_c_config) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() -------------------------------------------------------------------------------- /configs/anymal_c_config/config/gait/gait.yaml: -------------------------------------------------------------------------------- 1 | knee_orientation : "><" 2 | pantograph_leg : false 3 | odom_scaler: 1.0 4 | max_linear_velocity_x : 0.5 5 | max_linear_velocity_y : 0.25 6 | max_angular_velocity_z : 1.0 7 | com_x_translation : 0.0 8 | swing_height : 0.06 9 | stance_depth : 0.0 10 | stance_duration : 0.3 11 | nominal_height : 0.43 -------------------------------------------------------------------------------- /configs/anymal_c_config/config/joints/joints.yaml: -------------------------------------------------------------------------------- 1 | left_front: 2 | - LF_HAA 3 | - LF_HFE 4 | - LF_KFE 5 | - LF_shank_fixed_LF_FOOT 6 | 7 | right_front: 8 | - RF_HAA 9 | - RF_HFE 10 | - RF_KFE 11 | - RF_shank_fixed_RF_FOOT 12 | 13 | left_hind: 14 | - LH_HAA 15 | - LH_HFE 16 | - LH_KFE 17 | - LH_shank_fixed_LH_FOOT 18 | 19 | right_hind: 20 | - RH_HAA 21 | - RH_HFE 22 | - RH_KFE 23 | - RH_shank_fixed_RH_FOOT -------------------------------------------------------------------------------- /configs/anymal_c_config/config/links/links.yaml: -------------------------------------------------------------------------------- 1 | base: base 2 | left_front: 3 | - LF_HIP 4 | - LF_THIGH 5 | - LF_SHANK 6 | - LF_FOOT 7 | 8 | right_front: 9 | - RF_HIP 10 | - RF_THIGH 11 | - RF_SHANK 12 | - RF_FOOT 13 | 14 | left_hind: 15 | - LH_HIP 16 | - LH_THIGH 17 | - LH_SHANK 18 | - LH_FOOT 19 | 20 | right_hind: 21 | - RH_HIP 22 | - RH_THIGH 23 | - RH_SHANK 24 | - RH_FOOT -------------------------------------------------------------------------------- /configs/anymal_c_config/config/move_base/base_local_planner_holonomic_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | #http://wiki.ros.org/dwa_local_planner 3 | 4 | min_vel_trans: 0.01 5 | max_vel_trans: 0.5 6 | 7 | min_vel_x: -0.025 8 | max_vel_x: 0.5 9 | 10 | min_vel_y: 0.0 11 | max_vel_y: 0.0 12 | 13 | max_vel_rot: 1.0 14 | min_vel_rot: -1.0 15 | 16 | acc_lim_trans: 1.7 17 | acc_lim_x: 1.7 18 | acc_lim_y: 0.0 19 | acc_lim_theta: 3 20 | 21 | trans_stopped_vel: 0.1 22 | theta_stopped_vel: 0.1 23 | 24 | xy_goal_tolerance: 0.25 25 | yaw_goal_tolerance: 0.34 26 | 27 | sim_time: 3.5 28 | sim_granularity: 0.1 29 | vx_samples: 20 30 | vy_samples: 0 31 | vth_samples: 40 32 | 33 | path_distance_bias: 34.0 34 | goal_distance_bias: 24.0 35 | occdist_scale: 0.05 36 | 37 | forward_point_distance: 0.2 38 | stop_time_buffer: 0.5 39 | scaling_speed: 0.25 40 | max_scaling_factor: 0.2 41 | 42 | oscillation_reset_dist: 0.05 43 | 44 | use_dwa: true 45 | 46 | prune_plan: false 47 | -------------------------------------------------------------------------------- /configs/anymal_c_config/config/move_base/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]] 4 | 5 | transform_tolerance: 0.5 6 | resolution: 0.05 7 | 8 | static_map_layer: 9 | map_topic: map 10 | subscribe_to_updates: true 11 | 12 | 2d_obstacles_layer: 13 | observation_sources: scan 14 | scan: {data_type: LaserScan, 15 | topic: scan, 16 | marking: true, 17 | clearing: true} 18 | 19 | 3d_obstacles_layer: 20 | observation_sources: depth 21 | depth: {data_type: PointCloud2, 22 | topic: camera/depth/points, 23 | min_obstacle_height: 0.1, 24 | marking: true, 25 | clearing: true} 26 | 27 | inflation_layer: 28 | inflation_radius: 2.0 -------------------------------------------------------------------------------- /configs/anymal_c_config/config/move_base/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | cost_scaling_factor: 10.0 8 | 9 | plugins: 10 | - {name: static_map_layer, type: "costmap_2d::StaticLayer"} 11 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 12 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 13 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 14 | -------------------------------------------------------------------------------- /configs/anymal_c_config/config/move_base/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 2.0 6 | 7 | static_map: false 8 | rolling_window: true 9 | width: 2.5 10 | height: 2.5 11 | cost_scaling_factor: 5 12 | 13 | plugins: 14 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 15 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 16 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 17 | -------------------------------------------------------------------------------- /configs/anymal_c_config/config/move_base/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | base_local_planner: dwa_local_planner/DWAPlannerROS 3 | 4 | shutdown_costmaps: false 5 | 6 | controller_frequency: 5.0 7 | controller_patience: 3.0 8 | 9 | planner_frequency: 0.5 10 | planner_patience: 5.0 11 | 12 | oscillation_timeout: 10.0 13 | oscillation_distance: 0.2 14 | 15 | conservative_reset_dist: 0.1 -------------------------------------------------------------------------------- /configs/anymal_c_config/config/ros_control/ros_control.yaml: -------------------------------------------------------------------------------- 1 | "": 2 | joint_states_controller: 3 | type: joint_state_controller/JointStateController 4 | publish_rate: 30 5 | 6 | joint_group_position_controller: 7 | type: effort_controllers/JointTrajectoryController 8 | joints: 9 | - LF_HAA 10 | - LF_HFE 11 | - LF_KFE 12 | - RF_HAA 13 | - RF_HFE 14 | - RF_KFE 15 | - LH_HAA 16 | - LH_HFE 17 | - LH_KFE 18 | - RH_HAA 19 | - RH_HFE 20 | - RH_KFE 21 | 22 | gains: 23 | LF_HAA : {p: 500, i: 1, d: 30} 24 | LF_HFE : {p: 500, i: 1, d: 30} 25 | LF_KFE : {p: 500, i: 1, d: 30} 26 | RF_HAA : {p: 500, i: 1, d: 30} 27 | RF_HFE : {p: 500, i: 1, d: 30} 28 | RF_KFE : {p: 500, i: 1, d: 30} 29 | LH_HAA : {p: 500, i: 1, d: 30} 30 | LH_HFE : {p: 500, i: 1, d: 30} 31 | LH_KFE : {p: 500, i: 1, d: 30} 32 | RH_HAA : {p: 500, i: 1, d: 30} 33 | RH_HFE : {p: 500, i: 1, d: 30} 34 | RH_KFE : {p: 500, i: 1, d: 30} 35 | -------------------------------------------------------------------------------- /configs/anymal_c_config/include/gait_config.h: -------------------------------------------------------------------------------- 1 | #ifndef GAIT_CONFIG_H 2 | #define GAIT_CONFIG_H 3 | 4 | #define KNEE_ORIENTATION "><" 5 | #define PANTOGRAPH_LEG false 6 | #define ODOM_SCALER 1.0 7 | #define MAX_LINEAR_VELOCITY_X 0.5 8 | #define MAX_LINEAR_VELOCITY_Y 0.25 9 | #define MAX_ANGULAR_VELOCITY_Z 1.0 10 | #define COM_X_TRANSLATION 0.0 11 | #define SWING_HEIGHT 0.05 12 | #define STANCE_DEPTH 0.0 13 | #define STANCE_DURATION 0.3 14 | #define NOMINAL_HEIGHT 0.43 15 | 16 | #endif -------------------------------------------------------------------------------- /configs/anymal_c_config/launch/navigate.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 29 | 30 | -------------------------------------------------------------------------------- /configs/anymal_c_config/launch/slam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 22 | 23 | -------------------------------------------------------------------------------- /configs/anymal_c_config/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/anymal_c_config/maps/map.pgm -------------------------------------------------------------------------------- /configs/anymal_c_config/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/anymal_c_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | anymal_c_config 4 | 0.1.0 5 | anymal_c Champ Config Package 6 | 7 | Juan Miguel Jimeno 8 | Juan Miguel Jimeno 9 | 10 | BSD 11 | 12 | catkin 13 | roslaunch 14 | rviz 15 | champ_base 16 | 17 | -------------------------------------------------------------------------------- /configs/anymal_c_config/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 4 | export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include 5 | 6 | bash -i -------------------------------------------------------------------------------- /configs/astro_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(astro_config) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() -------------------------------------------------------------------------------- /configs/astro_config/config/gait/gait.yaml: -------------------------------------------------------------------------------- 1 | knee_orientation : "><" 2 | pantograph_leg : false 3 | max_linear_velocity_x : 0.20 4 | max_linear_velocity_y : 0.10 5 | max_angular_velocity_z : 0.5 6 | swing_height : 0.010 7 | stance_depth : 0.002 8 | stance_duration : 0.275 9 | nominal_height : 0.145 -------------------------------------------------------------------------------- /configs/astro_config/config/joints/joints.yaml: -------------------------------------------------------------------------------- 1 | left_front: 2 | - lf_hip_joint 3 | - lf_upper_leg_joint 4 | - lf_lower_leg_joint 5 | 6 | right_front: 7 | - rf_hip_joint 8 | - rf_upper_leg_joint 9 | - rf_lower_leg_joint 10 | 11 | left_hind: 12 | - lh_hip_joint 13 | - lh_upper_leg_joint 14 | - lh_lower_leg_joint 15 | 16 | right_hind: 17 | - rh_hip_joint 18 | - rh_upper_leg_joint 19 | - rh_lower_leg_joint -------------------------------------------------------------------------------- /configs/astro_config/config/links/links.yaml: -------------------------------------------------------------------------------- 1 | base: base_link 2 | left_front: 3 | - lf_hip_link 4 | - lf_upper_leg_link 5 | - lf_lower_leg_link 6 | - lf_foot_link 7 | 8 | right_front: 9 | - rf_hip_link 10 | - rf_upper_leg_link 11 | - rf_lower_leg_link 12 | - rf_foot_link 13 | 14 | left_hind: 15 | - lh_hip_link 16 | - lh_upper_leg_link 17 | - lh_lower_leg_link 18 | - lh_foot_link 19 | 20 | right_hind: 21 | - rh_hip_link 22 | - rh_upper_leg_link 23 | - rh_lower_leg_link 24 | - rh_foot_link -------------------------------------------------------------------------------- /configs/astro_config/config/navigation/base_local_planner_holonomic_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | max_trans_vel: 0.2 3 | min_trans_vel: 0.01 4 | max_vel_x: 0.2 5 | min_vel_x: -0.025 6 | max_vel_y: 0.2 7 | min_vel_y: -0.025 8 | max_rot_vel: 0.5 9 | min_rot_vel: -0.5 10 | acc_lim_x: 0.5 11 | acc_lim_y: 0.5 12 | acc_lim_theta: 1.0 13 | acc_lim_trans: 0.5 14 | 15 | prune_plan: false 16 | 17 | xy_goal_tolerance: 0.25 18 | yaw_goal_tolerance: 0.1 19 | trans_stopped_vel: 0.1 20 | rot_stopped_vel: 0.1 21 | sim_time: 3.0 22 | sim_granularity: 0.1 23 | angular_sim_granularity: 0.1 24 | path_distance_bias: 34.0 25 | goal_distance_bias: 24.0 26 | occdist_scale: 0.05 27 | twirling_scale: 0.0 28 | stop_time_buffer: 0.5 29 | oscillation_reset_dist: 0.05 30 | oscillation_reset_angle: 0.2 31 | forward_point_distance: 0.3 32 | scaling_speed: 0.25 33 | max_scaling_factor: 0.2 34 | vx_samples: 20 35 | vy_samples: 0 36 | vth_samples: 40 37 | 38 | use_dwa: true 39 | restore_defaults: true 40 | -------------------------------------------------------------------------------- /configs/astro_config/config/navigation/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | footprint: [[-0.16, -0.12], [-0.16, 0.12], [0.16, 0.12], [0.16, -0.12]] 4 | inflation_radius: 0.55 5 | transform_tolerance: 0.5 6 | 7 | observation_sources: scan 8 | scan: 9 | data_type: LaserScan 10 | topic: scan 11 | marking: true 12 | clearing: true 13 | 14 | map_type: costmap 15 | -------------------------------------------------------------------------------- /configs/astro_config/config/navigation/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 #before: 5.0 5 | publish_frequency: 0.5 #before 0.5 6 | static_map: true 7 | transform_tolerance: 0.5 8 | cost_scaling_factor: 10.0 9 | inflation_radius: 0.55 -------------------------------------------------------------------------------- /configs/astro_config/config/navigation/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 #before 5.0 5 | publish_frequency: 2.0 #before 2.0 6 | static_map: false 7 | rolling_window: true 8 | width: 2.5 9 | height: 2.5 10 | resolution: 0.05 #increase to for higher res 0.025 11 | transform_tolerance: 0.5 12 | cost_scaling_factor: 5 13 | inflation_radius: 0.55 -------------------------------------------------------------------------------- /configs/astro_config/config/navigation/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | base_local_planner: dwa_local_planner/DWAPlannerROS 3 | 4 | shutdown_costmaps: false 5 | 6 | controller_frequency: 5.0 #before 5.0 7 | controller_patience: 3.0 8 | 9 | planner_frequency: 0.5 10 | planner_patience: 5.0 11 | 12 | oscillation_timeout: 10.0 13 | oscillation_distance: 0.2 14 | 15 | conservative_reset_dist: 0.1 #distance from an obstacle at which it will unstuck itself 16 | 17 | cost_factor: 1.0 18 | neutral_cost: 55 19 | lethal_cost: 253 -------------------------------------------------------------------------------- /configs/astro_config/include/gait_config.h: -------------------------------------------------------------------------------- 1 | #ifndef GAIT_CONFIG_H 2 | #define GAIT_CONFIG_H 3 | 4 | #define KNEE_ORIENTATION "><" 5 | #define PANTOGRAPH_LEG false 6 | #define MAX_LINEAR_VELOCITY_X 0.20 7 | #define MAX_LINEAR_VELOCITY_Y 0.10 8 | #define MAX_ANGULAR_VELOCITY_Z 0.5 9 | #define SWING_HEIGHT 0.010 10 | #define STANCE_DEPTH 0.002 11 | #define STANCE_DURATION 0.275 12 | #define NOMINAL_HEIGHT 0.145 13 | 14 | #endif -------------------------------------------------------------------------------- /configs/astro_config/include/quadruped_description.h: -------------------------------------------------------------------------------- 1 | #ifndef QUADRUPED_DESCRIPTION_H 2 | #define QUADRUPED_DESCRIPTION_H 3 | 4 | #include 5 | 6 | namespace champ 7 | { 8 | namespace URDF 9 | { 10 | void loadFromHeader(champ::QuadrupedBase &base) 11 | { 12 | base.lf.hip.setOrigin(0.117, 0.0415, 0, 0, 0, 0); 13 | base.lf.upper_leg.setOrigin(0, 0.05, -0.031, 0, 0, 0); 14 | base.lf.lower_leg.setOrigin(0.0, 0, -0.078, 0, 0, 0); 15 | base.lf.foot.setOrigin(0, 0, -0.108, 0, 0, 0); 16 | 17 | base.rf.hip.setOrigin(0.117, -0.0415, 0, 0, 0, 0); 18 | base.rf.upper_leg.setOrigin(0, -0.05, -0.031, 0, 0, 0); 19 | base.rf.lower_leg.setOrigin(0.0, 0, -0.078, 0, 0, 0); 20 | base.rf.foot.setOrigin(0, 0, -0.108, 0, 0, 0); 21 | 22 | base.lh.hip.setOrigin(-0.117, 0.0415, 0, 0, 0, 0); 23 | base.lh.upper_leg.setOrigin(0, 0.05, -0.031, 0, 0, 0); 24 | base.lh.lower_leg.setOrigin(0.0, 0, -0.078, 0, 0, 0); 25 | base.lh.foot.setOrigin(0, 0, -0.108, 0, 0, 0); 26 | 27 | base.rh.hip.setOrigin(-0.117, -0.0415, 0, 0, 0, 0); 28 | base.rh.upper_leg.setOrigin(0, -0.05, -0.031, 0, 0, 0); 29 | base.rh.lower_leg.setOrigin(0, 0, -0.078, 0, 0, 0); 30 | base.rh.foot.setOrigin(0, 0, -0.108, 0, 0, 0); 31 | } 32 | } 33 | } 34 | #endif -------------------------------------------------------------------------------- /configs/astro_config/launch/include/navigation/move_base.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /configs/astro_config/launch/include/slam/octomap.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /configs/astro_config/launch/navigate.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /configs/astro_config/launch/slam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /configs/astro_config/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/astro_config/maps/map.pgm -------------------------------------------------------------------------------- /configs/astro_config/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/astro_config/maps/octomap.ot: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/astro_config/maps/octomap.ot -------------------------------------------------------------------------------- /configs/astro_config/maps/octomap.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/astro_config/maps/octomap.pgm -------------------------------------------------------------------------------- /configs/astro_config/maps/octomap.yaml: -------------------------------------------------------------------------------- 1 | image: octomap.pgm 2 | resolution: 0.050000 3 | origin: [-7.500000, -14.400000, 0.0] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/astro_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | astro_config 4 | 0.0.0 5 | CHAMP Config Package 6 | 7 | Juan Miguel Jimeno 8 | Juan Miguel Jimeno 9 | 10 | BSD 11 | 12 | catkin 13 | roslaunch 14 | rviz 15 | champ_base 16 | 17 | -------------------------------------------------------------------------------- /configs/astro_config/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 4 | export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include 5 | 6 | bash -i -------------------------------------------------------------------------------- /configs/bruno_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(bruno_config) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() -------------------------------------------------------------------------------- /configs/bruno_config/config/gait/gait.yaml: -------------------------------------------------------------------------------- 1 | knee_orientation : ">>" 2 | pantograph_leg : false 3 | odom_scaler: 1.0 4 | max_linear_velocity_x : 0.5 5 | max_linear_velocity_y : 0.25 6 | max_angular_velocity_z : 1.0 7 | com_x_translation : -0.04 8 | swing_height : 0.05 9 | stance_depth : 0.0 10 | stance_duration : 0.2 11 | nominal_height : 0.25 -------------------------------------------------------------------------------- /configs/bruno_config/config/joints/joints.yaml: -------------------------------------------------------------------------------- 1 | left_front: 2 | - lf_hip_joint 3 | - lf_upper_leg_joint 4 | - lf_lower_leg_joint 5 | - lf_foot_joint 6 | 7 | right_front: 8 | - rf_hip_joint 9 | - rf_upper_leg_joint 10 | - rf_lower_leg_joint 11 | - rf_foot_joint 12 | 13 | left_hind: 14 | - lh_hip_joint 15 | - lh_upper_leg_joint 16 | - lh_lower_leg_joint 17 | - lh_foot_joint 18 | 19 | right_hind: 20 | - rh_hip_joint 21 | - rh_upper_leg_joint 22 | - rh_lower_leg_joint 23 | - rh_foot_joint -------------------------------------------------------------------------------- /configs/bruno_config/config/links/links.yaml: -------------------------------------------------------------------------------- 1 | base: base_link 2 | left_front: 3 | - lf_hip_link 4 | - lf_upper_leg_link 5 | - lf_lower_leg_link 6 | - lf_foot_link 7 | 8 | right_front: 9 | - rf_hip_link 10 | - rf_upper_leg_link 11 | - rf_lower_leg_link 12 | - rf_foot_link 13 | 14 | left_hind: 15 | - lh_hip_link 16 | - lh_upper_leg_link 17 | - lh_lower_leg_link 18 | - lh_foot_link 19 | 20 | right_hind: 21 | - rh_hip_link 22 | - rh_upper_leg_link 23 | - rh_lower_leg_link 24 | - rh_foot_link -------------------------------------------------------------------------------- /configs/bruno_config/config/move_base/base_local_planner_holonomic_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | #http://wiki.ros.org/dwa_local_planner 3 | 4 | min_vel_trans: 0.01 5 | max_vel_trans: 0.5 6 | 7 | min_vel_x: -0.025 8 | max_vel_x: 0.5 9 | 10 | min_vel_y: 0.0 11 | max_vel_y: 0.0 12 | 13 | max_vel_rot: 1.0 14 | min_vel_rot: -1.0 15 | 16 | acc_lim_trans: 1.7 17 | acc_lim_x: 1.7 18 | acc_lim_y: 0.0 19 | acc_lim_theta: 3 20 | 21 | trans_stopped_vel: 0.1 22 | theta_stopped_vel: 0.1 23 | 24 | xy_goal_tolerance: 0.25 25 | yaw_goal_tolerance: 0.34 26 | 27 | sim_time: 3.5 28 | sim_granularity: 0.1 29 | vx_samples: 20 30 | vy_samples: 0 31 | vth_samples: 40 32 | 33 | path_distance_bias: 34.0 34 | goal_distance_bias: 24.0 35 | occdist_scale: 0.05 36 | 37 | forward_point_distance: 0.2 38 | stop_time_buffer: 0.5 39 | scaling_speed: 0.25 40 | max_scaling_factor: 0.2 41 | 42 | oscillation_reset_dist: 0.05 43 | 44 | use_dwa: true 45 | 46 | prune_plan: false 47 | -------------------------------------------------------------------------------- /configs/bruno_config/config/move_base/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]] 4 | 5 | transform_tolerance: 0.5 6 | resolution: 0.05 7 | 8 | static_map_layer: 9 | map_topic: map 10 | subscribe_to_updates: true 11 | 12 | 2d_obstacles_layer: 13 | observation_sources: scan 14 | scan: {data_type: LaserScan, 15 | topic: scan, 16 | marking: true, 17 | clearing: true} 18 | 19 | 3d_obstacles_layer: 20 | observation_sources: depth 21 | depth: {data_type: PointCloud2, 22 | topic: camera/depth/points, 23 | min_obstacle_height: 0.1, 24 | marking: true, 25 | clearing: true} 26 | 27 | inflation_layer: 28 | inflation_radius: 2.0 -------------------------------------------------------------------------------- /configs/bruno_config/config/move_base/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | cost_scaling_factor: 10.0 8 | 9 | plugins: 10 | - {name: static_map_layer, type: "costmap_2d::StaticLayer"} 11 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 12 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 13 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 14 | -------------------------------------------------------------------------------- /configs/bruno_config/config/move_base/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 2.0 6 | 7 | static_map: false 8 | rolling_window: true 9 | width: 2.5 10 | height: 2.5 11 | cost_scaling_factor: 5 12 | 13 | plugins: 14 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 15 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 16 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 17 | -------------------------------------------------------------------------------- /configs/bruno_config/config/move_base/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | base_local_planner: dwa_local_planner/DWAPlannerROS 3 | 4 | shutdown_costmaps: false 5 | 6 | controller_frequency: 5.0 7 | controller_patience: 3.0 8 | 9 | planner_frequency: 0.5 10 | planner_patience: 5.0 11 | 12 | oscillation_timeout: 10.0 13 | oscillation_distance: 0.2 14 | 15 | conservative_reset_dist: 0.1 -------------------------------------------------------------------------------- /configs/bruno_config/config/ros_control/ros_control.yaml: -------------------------------------------------------------------------------- 1 | "": 2 | joint_states_controller: 3 | type: joint_state_controller/JointStateController 4 | publish_rate: 50 5 | 6 | joint_group_position_controller: 7 | type: effort_controllers/JointTrajectoryController 8 | joints: 9 | - lf_hip_joint 10 | - lf_upper_leg_joint 11 | - lf_lower_leg_joint 12 | - rf_hip_joint 13 | - rf_upper_leg_joint 14 | - rf_lower_leg_joint 15 | - lh_hip_joint 16 | - lh_upper_leg_joint 17 | - lh_lower_leg_joint 18 | - rh_hip_joint 19 | - rh_upper_leg_joint 20 | - rh_lower_leg_joint 21 | 22 | gains: 23 | lf_hip_joint : {p: 180, d: 0.9, i: 20} 24 | lf_upper_leg_joint : {p: 180, d: 0.9, i: 20} 25 | lf_lower_leg_joint : {p: 180, d: 0.9, i: 20} 26 | rf_hip_joint : {p: 180, d: 0.9, i: 20} 27 | rf_upper_leg_joint : {p: 180, d: 0.9, i: 20} 28 | rf_lower_leg_joint : {p: 180, d: 0.9, i: 20} 29 | lh_hip_joint : {p: 180, d: 0.9, i: 20} 30 | lh_upper_leg_joint : {p: 180, d: 0.9, i: 20} 31 | lh_lower_leg_joint : {p: 180, d: 0.9, i: 20} 32 | rh_hip_joint : {p: 180, d: 0.9, i: 20} 33 | rh_upper_leg_joint : {p: 180, d: 0.9, i: 20} 34 | rh_lower_leg_joint : {p: 180, d: 0.9, i: 20} 35 | -------------------------------------------------------------------------------- /configs/bruno_config/include/gait_config.h: -------------------------------------------------------------------------------- 1 | #ifndef GAIT_CONFIG_H 2 | #define GAIT_CONFIG_H 3 | 4 | #define KNEE_ORIENTATION ">>" 5 | #define PANTOGRAPH_LEG false 6 | #define ODOM_SCALER 1.0 7 | #define MAX_LINEAR_VELOCITY_X 0.5 8 | #define MAX_LINEAR_VELOCITY_Y 0.25 9 | #define MAX_ANGULAR_VELOCITY_Z 1.0 10 | #define COM_X_TRANSLATION -0.04 11 | #define SWING_HEIGHT 0.05 12 | #define STANCE_DEPTH 0.0 13 | #define STANCE_DURATION 0.2 14 | #define NOMINAL_HEIGHT 0.25 15 | 16 | #endif -------------------------------------------------------------------------------- /configs/bruno_config/include/quadruped_description.h: -------------------------------------------------------------------------------- 1 | #ifndef QUADRUPED_DESCRIPTION_H 2 | #define QUADRUPED_DESCRIPTION_H 3 | 4 | #include 5 | 6 | namespace champ 7 | { 8 | namespace URDF 9 | { 10 | void loadFromHeader(champ::QuadrupedBase &base) 11 | { 12 | base.lf.hip.setOrigin(0.1425, 0.04, 0.0, 0.0, 0.0, 0.0); 13 | base.lf.upper_leg.setOrigin(0.0, 0.05, -0.04, 0.0, 0.0, 0.0); 14 | base.lf.lower_leg.setOrigin(0.015, 0.0, -0.148, 0.0, 0.0, 0.0); 15 | base.lf.foot.setOrigin(-0.0225, 0.0, -0.15, 0.0, 0.0, 0.0); 16 | 17 | base.rf.hip.setOrigin(0.1425, -0.04, 0.0, 0.0, 0.0, 0.0); 18 | base.rf.upper_leg.setOrigin(0.0, -0.05, -0.04, 0.0, 0.0, 0.0); 19 | base.rf.lower_leg.setOrigin(0.015, 0.0, -0.148, 0.0, 0.0, 0.0); 20 | base.rf.foot.setOrigin(-0.0225, 0.0, -0.15, 0.0, 0.0, 0.0); 21 | 22 | base.lh.hip.setOrigin(-0.1425, 0.04, 0.0, 0.0, 0.0, 0.0); 23 | base.lh.upper_leg.setOrigin(0.0, 0.05, -0.04, 0.0, 0.0, 0.0); 24 | base.lh.lower_leg.setOrigin(0.015, 0.0, -0.148, 0.0, 0.0, 0.0); 25 | base.lh.foot.setOrigin(-0.0225, 0.0, -0.15, 0.0, 0.0, 0.0); 26 | 27 | base.rh.hip.setOrigin(-0.1425, -0.04, 0.0, 0.0, 0.0, 0.0); 28 | base.rh.upper_leg.setOrigin(0.0, -0.05, -0.04, 0.0, 0.0, 0.0); 29 | base.rh.lower_leg.setOrigin(0.015, 0.0, -0.148, 0.0, 0.0, 0.0); 30 | base.rh.foot.setOrigin(-0.0225, 0.0, -0.15, 0.0, 0.0, 0.0); 31 | } 32 | } 33 | } 34 | #endif -------------------------------------------------------------------------------- /configs/bruno_config/launch/navigate.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 29 | 30 | -------------------------------------------------------------------------------- /configs/bruno_config/launch/slam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 22 | 23 | -------------------------------------------------------------------------------- /configs/bruno_config/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/bruno_config/maps/map.pgm -------------------------------------------------------------------------------- /configs/bruno_config/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/bruno_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | bruno_config 4 | 0.1.0 5 | bruno Champ Config Package 6 | 7 | Juan Miguel Jimeno 8 | Juan Miguel Jimeno 9 | 10 | BSD 11 | 12 | catkin 13 | roslaunch 14 | rviz 15 | champ_base 16 | 17 | -------------------------------------------------------------------------------- /configs/bruno_config/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 4 | export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include 5 | 6 | bash -i -------------------------------------------------------------------------------- /configs/dkitty_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(dkitty_config) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() -------------------------------------------------------------------------------- /configs/dkitty_config/config/gait/gait.yaml: -------------------------------------------------------------------------------- 1 | knee_orientation : ">>" 2 | pantograph_leg : false 3 | odom_scaler: 1.0 4 | max_linear_velocity_x : 0.5 5 | max_linear_velocity_y : 0.25 6 | max_angular_velocity_z : 1.0 7 | com_x_translation : 0.0 8 | swing_height : 0.04 9 | stance_depth : 0.0 10 | stance_duration : 0.2 11 | nominal_height : 0.23 -------------------------------------------------------------------------------- /configs/dkitty_config/config/joints/joints.yaml: -------------------------------------------------------------------------------- 1 | left_front: 2 | - lf_hip_adapter_joint 3 | - lf_upper_leg_adapter_joint 4 | - lf_lower_leg_adapter_joint 5 | - lf_foot_joint 6 | 7 | right_front: 8 | - rf_hip_adapter_joint 9 | - rf_upper_leg_adapter_joint 10 | - rf_lower_leg_adapter_joint 11 | - rf_foot_joint 12 | 13 | left_hind: 14 | - lh_hip_adapter_joint 15 | - lh_upper_leg_adapter_joint 16 | - lh_lower_leg_adapter_joint 17 | - lh_foot_joint 18 | 19 | right_hind: 20 | - rh_hip_adapter_joint 21 | - rh_upper_leg_adapter_joint 22 | - rh_lower_leg_adapter_joint 23 | - rh_foot_joint -------------------------------------------------------------------------------- /configs/dkitty_config/config/links/links.yaml: -------------------------------------------------------------------------------- 1 | base: base_link 2 | left_front: 3 | - lf_hip_adapter_link 4 | - lf_upper_leg_adapter_link 5 | - lf_lower_leg_adapter_link 6 | - lf_foot_link 7 | 8 | right_front: 9 | - rf_hip_adapter_link 10 | - rf_upper_leg_adapter_link 11 | - rf_lower_leg_adapter_link 12 | - rf_foot_link 13 | 14 | left_hind: 15 | - lh_hip_adapter_link 16 | - lh_upper_leg_adapter_link 17 | - lh_lower_leg_adapter_link 18 | - lh_foot_link 19 | 20 | right_hind: 21 | - rh_hip_adapter_link 22 | - rh_upper_leg_adapter_link 23 | - rh_lower_leg_adapter_link 24 | - rh_foot_link -------------------------------------------------------------------------------- /configs/dkitty_config/config/move_base/base_local_planner_holonomic_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | #http://wiki.ros.org/dwa_local_planner 3 | 4 | min_vel_trans: 0.01 5 | max_vel_trans: 0.5 6 | 7 | min_vel_x: -0.025 8 | max_vel_x: 0.5 9 | 10 | min_vel_y: 0.0 11 | max_vel_y: 0.0 12 | 13 | max_vel_rot: 1.0 14 | min_vel_rot: -1.0 15 | 16 | acc_lim_trans: 1.7 17 | acc_lim_x: 1.7 18 | acc_lim_y: 0.0 19 | acc_lim_theta: 3 20 | 21 | trans_stopped_vel: 0.1 22 | theta_stopped_vel: 0.1 23 | 24 | xy_goal_tolerance: 0.25 25 | yaw_goal_tolerance: 0.34 26 | 27 | sim_time: 3.5 28 | sim_granularity: 0.1 29 | vx_samples: 20 30 | vy_samples: 0 31 | vth_samples: 40 32 | 33 | path_distance_bias: 34.0 34 | goal_distance_bias: 24.0 35 | occdist_scale: 0.05 36 | 37 | forward_point_distance: 0.2 38 | stop_time_buffer: 0.5 39 | scaling_speed: 0.25 40 | max_scaling_factor: 0.2 41 | 42 | oscillation_reset_dist: 0.05 43 | 44 | use_dwa: true 45 | 46 | prune_plan: false 47 | -------------------------------------------------------------------------------- /configs/dkitty_config/config/move_base/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]] 4 | 5 | transform_tolerance: 0.5 6 | resolution: 0.05 7 | 8 | static_map_layer: 9 | map_topic: map 10 | subscribe_to_updates: true 11 | 12 | 2d_obstacles_layer: 13 | observation_sources: scan 14 | scan: {data_type: LaserScan, 15 | topic: scan, 16 | marking: true, 17 | clearing: true} 18 | 19 | 3d_obstacles_layer: 20 | observation_sources: depth 21 | depth: {data_type: PointCloud2, 22 | topic: camera/depth/points, 23 | min_obstacle_height: 0.1, 24 | marking: true, 25 | clearing: true} 26 | 27 | inflation_layer: 28 | inflation_radius: 2.0 -------------------------------------------------------------------------------- /configs/dkitty_config/config/move_base/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | cost_scaling_factor: 10.0 8 | 9 | plugins: 10 | - {name: static_map_layer, type: "costmap_2d::StaticLayer"} 11 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 12 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 13 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 14 | -------------------------------------------------------------------------------- /configs/dkitty_config/config/move_base/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 2.0 6 | 7 | static_map: false 8 | rolling_window: true 9 | width: 2.5 10 | height: 2.5 11 | cost_scaling_factor: 5 12 | 13 | plugins: 14 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 15 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 16 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 17 | -------------------------------------------------------------------------------- /configs/dkitty_config/config/move_base/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | base_local_planner: dwa_local_planner/DWAPlannerROS 3 | 4 | shutdown_costmaps: false 5 | 6 | controller_frequency: 5.0 7 | controller_patience: 3.0 8 | 9 | planner_frequency: 0.5 10 | planner_patience: 5.0 11 | 12 | oscillation_timeout: 10.0 13 | oscillation_distance: 0.2 14 | 15 | conservative_reset_dist: 0.1 -------------------------------------------------------------------------------- /configs/dkitty_config/include/gait_config.h: -------------------------------------------------------------------------------- 1 | #ifndef GAIT_CONFIG_H 2 | #define GAIT_CONFIG_H 3 | 4 | #define KNEE_ORIENTATION ">>" 5 | #define PANTOGRAPH_LEG false 6 | #define ODOM_SCALER 1.0 7 | #define MAX_LINEAR_VELOCITY_X 0.5 8 | #define MAX_LINEAR_VELOCITY_Y 0.25 9 | #define MAX_ANGULAR_VELOCITY_Z 1.0 10 | #define COM_X_TRANSLATION 0.0 11 | #define SWING_HEIGHT 0.04 12 | #define STANCE_DEPTH 0.0 13 | #define STANCE_DURATION 0.2 14 | #define NOMINAL_HEIGHT 0.23 15 | 16 | #endif -------------------------------------------------------------------------------- /configs/dkitty_config/include/quadruped_description.h: -------------------------------------------------------------------------------- 1 | #ifndef QUADRUPED_DESCRIPTION_H 2 | #define QUADRUPED_DESCRIPTION_H 3 | 4 | #include 5 | 6 | namespace champ 7 | { 8 | namespace URDF 9 | { 10 | void loadFromHeader(champ::QuadrupedBase &base) 11 | { 12 | base.lf.hip.setOrigin(0.1212, 0.0903, 0.0, 0.0, 0.0, 0.0); 13 | base.lf.upper_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0); 14 | base.lf.lower_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0); 15 | base.lf.foot.setOrigin(0.0, 0.0, -0.10885, 0.0, 0.0, 0.0); 16 | 17 | base.rf.hip.setOrigin(0.1212, -0.0903, 0.0, 0.0, 0.0, 0.0); 18 | base.rf.upper_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0); 19 | base.rf.lower_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0); 20 | base.rf.foot.setOrigin(0.0, 0.0, -0.10885, 0.0, 0.0, 0.0); 21 | 22 | base.lh.hip.setOrigin(-0.1212, 0.0903, 0.0, 0.0, 0.0, 0.0); 23 | base.lh.upper_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0); 24 | base.lh.lower_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0); 25 | base.lh.foot.setOrigin(0.0, 0.0, -0.10885, 0.0, 0.0, 0.0); 26 | 27 | base.rh.hip.setOrigin(-0.1212, -0.0903, 0.0, 0.0, 0.0, 0.0); 28 | base.rh.upper_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0); 29 | base.rh.lower_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0); 30 | base.rh.foot.setOrigin(0.0, 0.0, -0.10885, 0.0, 0.0, 0.0); 31 | } 32 | } 33 | } 34 | #endif -------------------------------------------------------------------------------- /configs/dkitty_config/launch/navigate.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 29 | 30 | -------------------------------------------------------------------------------- /configs/dkitty_config/launch/slam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 22 | 23 | -------------------------------------------------------------------------------- /configs/dkitty_config/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/dkitty_config/maps/map.pgm -------------------------------------------------------------------------------- /configs/dkitty_config/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/dkitty_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | dkitty_config 4 | 0.1.0 5 | dkitty Champ Config Package 6 | 7 | Juan Miguel Jimeno 8 | Juan Miguel Jimeno 9 | 10 | BSD 11 | 12 | catkin 13 | roslaunch 14 | rviz 15 | champ_base 16 | 17 | -------------------------------------------------------------------------------- /configs/dkitty_config/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 4 | export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include 5 | 6 | bash -i -------------------------------------------------------------------------------- /configs/dream_walker_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(dream_walker_config) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() -------------------------------------------------------------------------------- /configs/dream_walker_config/config/gait/gait.yaml: -------------------------------------------------------------------------------- 1 | knee_orientation : ">>" 2 | pantograph_leg : false 3 | odom_scaler: 1.0 4 | max_linear_velocity_x : 0.5 5 | max_linear_velocity_y : 0.25 6 | max_angular_velocity_z : 1.0 7 | com_x_translation : 0.0 8 | swing_height : 0.1 9 | stance_depth : 0.0 10 | stance_duration : 0.25 11 | nominal_height : 0.5 -------------------------------------------------------------------------------- /configs/dream_walker_config/config/joints/joints.yaml: -------------------------------------------------------------------------------- 1 | left_front: 2 | - B1_joint 3 | - B2_joint 4 | - B3_joint 5 | - B4_joint 6 | 7 | right_front: 8 | - A1_joint 9 | - A2_joint 10 | - A3_joint 11 | - A4_joint 12 | 13 | left_hind: 14 | - D1_joint 15 | - D2_joint 16 | - D3_joint 17 | - D4_joint 18 | 19 | right_hind: 20 | - C1_joint 21 | - C2_joint 22 | - C3_joint 23 | - C4_joint -------------------------------------------------------------------------------- /configs/dream_walker_config/config/links/links.yaml: -------------------------------------------------------------------------------- 1 | base: base_link 2 | left_front: 3 | - B1_Link 4 | - B2_Link 5 | - B3_Link 6 | - B4_Link 7 | 8 | right_front: 9 | - A1_Link 10 | - A2_Link 11 | - A3_Link 12 | - A4_Link 13 | 14 | left_hind: 15 | - D1_Link 16 | - D2_Link 17 | - D3_Link 18 | - D4_Link 19 | 20 | right_hind: 21 | - C1_Link 22 | - C2_Link 23 | - C3_Link 24 | - C4_Link -------------------------------------------------------------------------------- /configs/dream_walker_config/config/move_base/base_local_planner_holonomic_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | #http://wiki.ros.org/dwa_local_planner 3 | 4 | min_vel_trans: 0.01 5 | max_vel_trans: 0.5 6 | 7 | min_vel_x: -0.025 8 | max_vel_x: 0.5 9 | 10 | min_vel_y: 0.0 11 | max_vel_y: 0.0 12 | 13 | max_vel_rot: 1.0 14 | min_vel_rot: -1.0 15 | 16 | acc_lim_trans: 1.7 17 | acc_lim_x: 1.7 18 | acc_lim_y: 0.0 19 | acc_lim_theta: 3 20 | 21 | trans_stopped_vel: 0.1 22 | theta_stopped_vel: 0.1 23 | 24 | xy_goal_tolerance: 0.25 25 | yaw_goal_tolerance: 0.34 26 | 27 | sim_time: 3.5 28 | sim_granularity: 0.1 29 | vx_samples: 20 30 | vy_samples: 0 31 | vth_samples: 40 32 | 33 | path_distance_bias: 34.0 34 | goal_distance_bias: 24.0 35 | occdist_scale: 0.05 36 | 37 | forward_point_distance: 0.2 38 | stop_time_buffer: 0.5 39 | scaling_speed: 0.25 40 | max_scaling_factor: 0.2 41 | 42 | oscillation_reset_dist: 0.05 43 | 44 | use_dwa: true 45 | 46 | prune_plan: false 47 | -------------------------------------------------------------------------------- /configs/dream_walker_config/config/move_base/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]] 4 | 5 | transform_tolerance: 0.5 6 | resolution: 0.05 7 | 8 | static_map_layer: 9 | map_topic: map 10 | subscribe_to_updates: true 11 | 12 | 2d_obstacles_layer: 13 | observation_sources: scan 14 | scan: {data_type: LaserScan, 15 | topic: scan, 16 | marking: true, 17 | clearing: true} 18 | 19 | 3d_obstacles_layer: 20 | observation_sources: depth 21 | depth: {data_type: PointCloud2, 22 | topic: camera/depth/points, 23 | min_obstacle_height: 0.1, 24 | marking: true, 25 | clearing: true} 26 | 27 | inflation_layer: 28 | inflation_radius: 2.0 -------------------------------------------------------------------------------- /configs/dream_walker_config/config/move_base/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | cost_scaling_factor: 10.0 8 | 9 | plugins: 10 | - {name: static_map_layer, type: "costmap_2d::StaticLayer"} 11 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 12 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 13 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 14 | -------------------------------------------------------------------------------- /configs/dream_walker_config/config/move_base/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 2.0 6 | 7 | static_map: false 8 | rolling_window: true 9 | width: 2.5 10 | height: 2.5 11 | cost_scaling_factor: 5 12 | 13 | plugins: 14 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 15 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 16 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 17 | -------------------------------------------------------------------------------- /configs/dream_walker_config/config/move_base/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | base_local_planner: dwa_local_planner/DWAPlannerROS 3 | 4 | shutdown_costmaps: false 5 | 6 | controller_frequency: 5.0 7 | controller_patience: 3.0 8 | 9 | planner_frequency: 0.5 10 | planner_patience: 5.0 11 | 12 | oscillation_timeout: 10.0 13 | oscillation_distance: 0.2 14 | 15 | conservative_reset_dist: 0.1 -------------------------------------------------------------------------------- /configs/dream_walker_config/config/ros_control/ros_control.yaml: -------------------------------------------------------------------------------- 1 | "": 2 | joint_states_controller: 3 | type: joint_state_controller/JointStateController 4 | publish_rate: 50 5 | 6 | joint_group_position_controller: 7 | type: effort_controllers/JointTrajectoryController 8 | joints: 9 | - B1_joint 10 | - B2_joint 11 | - B3_joint 12 | - A1_joint 13 | - A2_joint 14 | - A3_joint 15 | - D1_joint 16 | - D2_joint 17 | - D3_joint 18 | - C1_joint 19 | - C2_joint 20 | - C3_joint 21 | 22 | gains: 23 | B1_joint : {p: 180, d: 0.9, i: 20} 24 | B2_joint : {p: 180, d: 0.9, i: 20} 25 | B3_joint : {p: 180, d: 0.9, i: 20} 26 | A1_joint : {p: 180, d: 0.9, i: 20} 27 | A2_joint : {p: 180, d: 0.9, i: 20} 28 | A3_joint : {p: 180, d: 0.9, i: 20} 29 | D1_joint : {p: 180, d: 0.9, i: 20} 30 | D2_joint : {p: 180, d: 0.9, i: 20} 31 | D3_joint : {p: 180, d: 0.9, i: 20} 32 | C1_joint : {p: 180, d: 0.9, i: 20} 33 | C2_joint : {p: 180, d: 0.9, i: 20} 34 | C3_joint : {p: 180, d: 0.9, i: 20} 35 | -------------------------------------------------------------------------------- /configs/dream_walker_config/include/gait_config.h: -------------------------------------------------------------------------------- 1 | #ifndef GAIT_CONFIG_H 2 | #define GAIT_CONFIG_H 3 | 4 | #define KNEE_ORIENTATION ">>" 5 | #define PANTOGRAPH_LEG false 6 | #define ODOM_SCALER 1.0 7 | #define MAX_LINEAR_VELOCITY_X 0.5 8 | #define MAX_LINEAR_VELOCITY_Y 0.25 9 | #define MAX_ANGULAR_VELOCITY_Z 1.0 10 | #define COM_X_TRANSLATION 0.0 11 | #define SWING_HEIGHT 0.1 12 | #define STANCE_DEPTH 0.0 13 | #define STANCE_DURATION 0.25 14 | #define NOMINAL_HEIGHT 0.5 15 | 16 | #endif -------------------------------------------------------------------------------- /configs/dream_walker_config/include/quadruped_description.h: -------------------------------------------------------------------------------- 1 | #ifndef QUADRUPED_DESCRIPTION_H 2 | #define QUADRUPED_DESCRIPTION_H 3 | 4 | #include 5 | 6 | namespace champ 7 | { 8 | namespace URDF 9 | { 10 | void loadFromHeader(champ::QuadrupedBase &base) 11 | { 12 | base.lf.hip.setOrigin(0.4585, 0.083, 0.0, 0.0, 0.0, 0.0); 13 | base.lf.upper_leg.setOrigin(0.0, 0.203, -0.0, 0.0, 0.0, 0.0); 14 | base.lf.lower_leg.setOrigin(0.0, 0.075, -0.32, 0.0, 0.0, 0.0); 15 | base.lf.foot.setOrigin(0.0, 0.0, -0.44, 0.0, 0.0, 0.0); 16 | 17 | base.rf.hip.setOrigin(0.4585, -0.083, 0.0, 0.0, 0.0, 0.0); 18 | base.rf.upper_leg.setOrigin(0.0, -0.203, -0.0, 0.0, 0.0, 0.0); 19 | base.rf.lower_leg.setOrigin(0.0, -0.075, -0.32, 0.0, 0.0, 0.0); 20 | base.rf.foot.setOrigin(0.0, 0.0, -0.44, 0.0, 0.0, 0.0); 21 | 22 | base.lh.hip.setOrigin(-0.4585, 0.083, 0.0, 0.0, 0.0, 0.0); 23 | base.lh.upper_leg.setOrigin(0.0, 0.203, -0.0, 0.0, 0.0, 0.0); 24 | base.lh.lower_leg.setOrigin(0.0, 0.075, -0.32, 0.0, 0.0, 0.0); 25 | base.lh.foot.setOrigin(0.0, 0.0, -0.44, 0.0, 0.0, 0.0); 26 | 27 | base.rh.hip.setOrigin(-0.4585, -0.083, 0.0, 0.0, 0.0, 0.0); 28 | base.rh.upper_leg.setOrigin(0.0, -0.203, -0.0, 0.0, 0.0, 0.0); 29 | base.rh.lower_leg.setOrigin(0.0, -0.075, -0.32, 0.0, 0.0, 0.0); 30 | base.rh.foot.setOrigin(0.0, 0.0, -0.44, 0.0, 0.0, 0.0); 31 | } 32 | } 33 | } 34 | #endif -------------------------------------------------------------------------------- /configs/dream_walker_config/launch/slam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 22 | 23 | -------------------------------------------------------------------------------- /configs/dream_walker_config/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/dream_walker_config/maps/map.pgm -------------------------------------------------------------------------------- /configs/dream_walker_config/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/dream_walker_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | dream_walker_config 4 | 0.1.0 5 | dream_walker Champ Config Package 6 | 7 | Juan Miguel Jimeno 8 | Juan Miguel Jimeno 9 | 10 | BSD 11 | 12 | catkin 13 | roslaunch 14 | rviz 15 | champ_base 16 | 17 | -------------------------------------------------------------------------------- /configs/dream_walker_config/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 4 | export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include 5 | 6 | bash -i -------------------------------------------------------------------------------- /configs/go1_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(go1_config) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() -------------------------------------------------------------------------------- /configs/go1_config/config/gait/gait.yaml: -------------------------------------------------------------------------------- 1 | knee_orientation : ">>" 2 | pantograph_leg : false 3 | odom_scaler: 1.0 4 | max_linear_velocity_x : 0.5 5 | max_linear_velocity_y : 0.25 6 | max_angular_velocity_z : 1.0 7 | com_x_translation : 0.0 8 | swing_height : 0.04 9 | stance_depth : 0.0 10 | stance_duration : 0.25 11 | nominal_height : 0.28 -------------------------------------------------------------------------------- /configs/go1_config/config/joints/joints.yaml: -------------------------------------------------------------------------------- 1 | left_front: 2 | - FL_hip_joint 3 | - FL_thigh_joint 4 | - FL_calf_joint 5 | - FL_foot_fixed 6 | 7 | right_front: 8 | - FR_hip_joint 9 | - FR_thigh_joint 10 | - FR_calf_joint 11 | - FR_foot_fixed 12 | 13 | left_hind: 14 | - RL_hip_joint 15 | - RL_thigh_joint 16 | - RL_calf_joint 17 | - RL_foot_fixed 18 | 19 | right_hind: 20 | - RR_hip_joint 21 | - RR_thigh_joint 22 | - RR_calf_joint 23 | - RR_foot_fixed -------------------------------------------------------------------------------- /configs/go1_config/config/links/links.yaml: -------------------------------------------------------------------------------- 1 | base: base 2 | left_front: 3 | - FL_hip 4 | - FL_thigh 5 | - FL_calf 6 | - FL_foot 7 | 8 | right_front: 9 | - FR_hip 10 | - FR_thigh 11 | - FR_calf 12 | - FR_foot 13 | 14 | left_hind: 15 | - RL_hip 16 | - RL_thigh 17 | - RL_calf 18 | - RL_foot 19 | 20 | right_hind: 21 | - RR_hip 22 | - RR_thigh 23 | - RR_calf 24 | - RR_foot -------------------------------------------------------------------------------- /configs/go1_config/config/move_base/base_local_planner_holonomic_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | #http://wiki.ros.org/dwa_local_planner 3 | 4 | min_vel_trans: 0.01 5 | max_vel_trans: 0.5 6 | 7 | min_vel_x: -0.025 8 | max_vel_x: 0.5 9 | 10 | min_vel_y: 0.0 11 | max_vel_y: 0.0 12 | 13 | max_vel_rot: 1.0 14 | min_vel_rot: -1.0 15 | 16 | acc_lim_trans: 1.7 17 | acc_lim_x: 1.7 18 | acc_lim_y: 0.0 19 | acc_lim_theta: 3 20 | 21 | trans_stopped_vel: 0.1 22 | theta_stopped_vel: 0.1 23 | 24 | xy_goal_tolerance: 0.25 25 | yaw_goal_tolerance: 0.34 26 | 27 | sim_time: 3.5 28 | sim_granularity: 0.1 29 | vx_samples: 20 30 | vy_samples: 0 31 | vth_samples: 40 32 | 33 | path_distance_bias: 34.0 34 | goal_distance_bias: 24.0 35 | occdist_scale: 0.05 36 | 37 | forward_point_distance: 0.2 38 | stop_time_buffer: 0.5 39 | scaling_speed: 0.25 40 | max_scaling_factor: 0.2 41 | 42 | oscillation_reset_dist: 0.05 43 | 44 | use_dwa: true 45 | 46 | prune_plan: false 47 | -------------------------------------------------------------------------------- /configs/go1_config/config/move_base/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]] 4 | 5 | transform_tolerance: 0.5 6 | resolution: 0.05 7 | 8 | static_map_layer: 9 | map_topic: map 10 | subscribe_to_updates: true 11 | 12 | 2d_obstacles_layer: 13 | observation_sources: scan 14 | scan: {data_type: LaserScan, 15 | topic: scan, 16 | marking: true, 17 | clearing: true} 18 | 19 | 3d_obstacles_layer: 20 | observation_sources: depth 21 | depth: {data_type: PointCloud2, 22 | topic: camera/depth/points, 23 | min_obstacle_height: 0.1, 24 | marking: true, 25 | clearing: true} 26 | 27 | inflation_layer: 28 | inflation_radius: 2.0 -------------------------------------------------------------------------------- /configs/go1_config/config/move_base/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | cost_scaling_factor: 10.0 8 | 9 | plugins: 10 | - {name: static_map_layer, type: "costmap_2d::StaticLayer"} 11 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 12 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 13 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 14 | -------------------------------------------------------------------------------- /configs/go1_config/config/move_base/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 2.0 6 | 7 | static_map: false 8 | rolling_window: true 9 | width: 2.5 10 | height: 2.5 11 | cost_scaling_factor: 5 12 | 13 | plugins: 14 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 15 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 16 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 17 | -------------------------------------------------------------------------------- /configs/go1_config/config/move_base/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | base_local_planner: dwa_local_planner/DWAPlannerROS 3 | 4 | shutdown_costmaps: false 5 | 6 | controller_frequency: 5.0 7 | controller_patience: 3.0 8 | 9 | planner_frequency: 0.5 10 | planner_patience: 5.0 11 | 12 | oscillation_timeout: 10.0 13 | oscillation_distance: 0.2 14 | 15 | conservative_reset_dist: 0.1 -------------------------------------------------------------------------------- /configs/go1_config/config/ros_control/ros_control.yaml: -------------------------------------------------------------------------------- 1 | "": 2 | joint_states_controller: 3 | type: joint_state_controller/JointStateController 4 | publish_rate: 1 5 | 6 | joint_group_position_controller: 7 | type: effort_controllers/JointTrajectoryController 8 | joints: 9 | - FL_hip_joint 10 | - FL_thigh_joint 11 | - FL_calf_joint 12 | - FR_hip_joint 13 | - FR_thigh_joint 14 | - FR_calf_joint 15 | - RL_hip_joint 16 | - RL_thigh_joint 17 | - RL_calf_joint 18 | - RR_hip_joint 19 | - RR_thigh_joint 20 | - RR_calf_joint 21 | 22 | gains: 23 | FL_hip_joint : {p: 180, d: 7, i: 20} 24 | FL_thigh_joint : {p: 180, d: 7, i: 20} 25 | FL_calf_joint : {p: 180, d: 7, i: 20} 26 | FR_hip_joint : {p: 180, d: 7, i: 20} 27 | FR_thigh_joint : {p: 180, d: 7, i: 20} 28 | FR_calf_joint : {p: 180, d: 7, i: 20} 29 | RL_hip_joint : {p: 180, d: 7, i: 20} 30 | RL_thigh_joint : {p: 180, d: 7, i: 20} 31 | RL_calf_joint : {p: 180, d: 7, i: 20} 32 | RR_hip_joint : {p: 180, d: 7, i: 20} 33 | RR_thigh_joint : {p: 180, d: 7, i: 20} 34 | RR_calf_joint : {p: 180, d: 7, i: 20} 35 | -------------------------------------------------------------------------------- /configs/go1_config/include/gait_config.h: -------------------------------------------------------------------------------- 1 | #ifndef GAIT_CONFIG_H 2 | #define GAIT_CONFIG_H 3 | 4 | #define KNEE_ORIENTATION ">>" 5 | #define PANTOGRAPH_LEG false 6 | #define ODOM_SCALER 1.0 7 | #define MAX_LINEAR_VELOCITY_X 0.5 8 | #define MAX_LINEAR_VELOCITY_Y 0.25 9 | #define MAX_ANGULAR_VELOCITY_Z 1.0 10 | #define COM_X_TRANSLATION 0.0 11 | #define SWING_HEIGHT 0.04 12 | #define STANCE_DEPTH 0.0 13 | #define STANCE_DURATION 0.25 14 | #define NOMINAL_HEIGHT 0.28 15 | 16 | #endif -------------------------------------------------------------------------------- /configs/go1_config/include/quadruped_description.h: -------------------------------------------------------------------------------- 1 | #ifndef QUADRUPED_DESCRIPTION_H 2 | #define QUADRUPED_DESCRIPTION_H 3 | 4 | #include 5 | 6 | namespace champ 7 | { 8 | namespace URDF 9 | { 10 | void loadFromHeader(champ::QuadrupedBase &base) 11 | { 12 | base.lf.hip.setOrigin(0.1881, 0.04675, 0.0, 0.0, 0.0, 0.0); 13 | base.lf.upper_leg.setOrigin(0.0, 0.08, -0.0, 0.0, 0.0, 0.0); 14 | base.lf.lower_leg.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0); 15 | base.lf.foot.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0); 16 | 17 | base.rf.hip.setOrigin(0.1881, -0.04675, 0.0, 0.0, 0.0, 0.0); 18 | base.rf.upper_leg.setOrigin(0.0, -0.08, -0.0, 0.0, 0.0, 0.0); 19 | base.rf.lower_leg.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0); 20 | base.rf.foot.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0); 21 | 22 | base.lh.hip.setOrigin(-0.1881, 0.04675, 0.0, 0.0, 0.0, 0.0); 23 | base.lh.upper_leg.setOrigin(0.0, 0.08, -0.0, 0.0, 0.0, 0.0); 24 | base.lh.lower_leg.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0); 25 | base.lh.foot.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0); 26 | 27 | base.rh.hip.setOrigin(-0.1881, -0.04675, 0.0, 0.0, 0.0, 0.0); 28 | base.rh.upper_leg.setOrigin(0.0, -0.08, -0.0, 0.0, 0.0, 0.0); 29 | base.rh.lower_leg.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0); 30 | base.rh.foot.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0); 31 | } 32 | } 33 | } 34 | #endif -------------------------------------------------------------------------------- /configs/go1_config/launch/navigate.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 29 | 30 | -------------------------------------------------------------------------------- /configs/go1_config/launch/slam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 22 | 23 | -------------------------------------------------------------------------------- /configs/go1_config/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/go1_config/maps/map.pgm -------------------------------------------------------------------------------- /configs/go1_config/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/go1_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | go1_config 4 | 0.1.0 5 | go1 Champ Config Package 6 | 7 | Juan Miguel Jimeno 8 | Juan Miguel Jimeno 9 | 10 | BSD 11 | 12 | catkin 13 | roslaunch 14 | rviz 15 | champ_base 16 | 17 | -------------------------------------------------------------------------------- /configs/go1_config/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 4 | export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include 5 | 6 | bash -i -------------------------------------------------------------------------------- /configs/littledog_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(littledog_config) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() -------------------------------------------------------------------------------- /configs/littledog_config/config/gait/gait.yaml: -------------------------------------------------------------------------------- 1 | knee_orientation : "><" 2 | pantograph_leg : false 3 | odom_scaler: 1.0 4 | max_linear_velocity_x : 0.5 5 | max_linear_velocity_y : 0.25 6 | max_angular_velocity_z : 1.0 7 | com_x_translation : 0.0 8 | swing_height : 0.02 9 | stance_depth : 0.0 10 | stance_duration : 0.2 11 | nominal_height : 0.14 -------------------------------------------------------------------------------- /configs/littledog_config/config/joints/joints.yaml: -------------------------------------------------------------------------------- 1 | left_front: 2 | - front_left_hip_roll 3 | - front_left_hip_pitch 4 | - front_left_knee 5 | - front_left_ankle 6 | 7 | right_front: 8 | - front_right_hip_roll 9 | - front_right_hip_pitch 10 | - front_right_knee 11 | - front_right_ankle 12 | 13 | left_hind: 14 | - back_left_hip_roll 15 | - back_left_hip_pitch 16 | - back_left_knee 17 | - back_left_ankle 18 | 19 | right_hind: 20 | - back_right_hip_roll 21 | - back_right_hip_pitch 22 | - back_right_knee 23 | - back_right_ankle -------------------------------------------------------------------------------- /configs/littledog_config/config/links/links.yaml: -------------------------------------------------------------------------------- 1 | base: body 2 | left_front: 3 | - front_left_hip 4 | - front_left_upper_leg 5 | - front_left_lower_leg 6 | - front_left_foot 7 | 8 | right_front: 9 | - front_right_hip 10 | - front_right_upper_leg 11 | - front_right_lower_leg 12 | - front_right_foot 13 | 14 | left_hind: 15 | - back_left_hip 16 | - back_left_upper_leg 17 | - back_left_lower_leg 18 | - back_left_foot 19 | 20 | right_hind: 21 | - back_right_hip 22 | - back_right_upper_leg 23 | - back_right_lower_leg 24 | - back_right_foot -------------------------------------------------------------------------------- /configs/littledog_config/config/move_base/base_local_planner_holonomic_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | #http://wiki.ros.org/dwa_local_planner 3 | 4 | min_vel_trans: 0.01 5 | max_vel_trans: 0.5 6 | 7 | min_vel_x: -0.025 8 | max_vel_x: 0.5 9 | 10 | min_vel_y: 0.0 11 | max_vel_y: 0.0 12 | 13 | max_vel_rot: 1.0 14 | min_vel_rot: -1.0 15 | 16 | acc_lim_trans: 1.7 17 | acc_lim_x: 1.7 18 | acc_lim_y: 0.0 19 | acc_lim_theta: 3 20 | 21 | trans_stopped_vel: 0.1 22 | theta_stopped_vel: 0.1 23 | 24 | xy_goal_tolerance: 0.25 25 | yaw_goal_tolerance: 0.34 26 | 27 | sim_time: 3.5 28 | sim_granularity: 0.1 29 | vx_samples: 20 30 | vy_samples: 0 31 | vth_samples: 40 32 | 33 | path_distance_bias: 34.0 34 | goal_distance_bias: 24.0 35 | occdist_scale: 0.05 36 | 37 | forward_point_distance: 0.2 38 | stop_time_buffer: 0.5 39 | scaling_speed: 0.25 40 | max_scaling_factor: 0.2 41 | 42 | oscillation_reset_dist: 0.05 43 | 44 | use_dwa: true 45 | 46 | prune_plan: false 47 | -------------------------------------------------------------------------------- /configs/littledog_config/config/move_base/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]] 4 | 5 | transform_tolerance: 0.5 6 | resolution: 0.05 7 | 8 | static_map_layer: 9 | map_topic: map 10 | subscribe_to_updates: true 11 | 12 | 2d_obstacles_layer: 13 | observation_sources: scan 14 | scan: {data_type: LaserScan, 15 | topic: scan, 16 | marking: true, 17 | clearing: true} 18 | 19 | 3d_obstacles_layer: 20 | observation_sources: depth 21 | depth: {data_type: PointCloud2, 22 | topic: camera/depth/points, 23 | min_obstacle_height: 0.1, 24 | marking: true, 25 | clearing: true} 26 | 27 | inflation_layer: 28 | inflation_radius: 2.0 -------------------------------------------------------------------------------- /configs/littledog_config/config/move_base/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | cost_scaling_factor: 10.0 8 | 9 | plugins: 10 | - {name: static_map_layer, type: "costmap_2d::StaticLayer"} 11 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 12 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 13 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 14 | -------------------------------------------------------------------------------- /configs/littledog_config/config/move_base/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 2.0 6 | 7 | static_map: false 8 | rolling_window: true 9 | width: 2.5 10 | height: 2.5 11 | cost_scaling_factor: 5 12 | 13 | plugins: 14 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 15 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 16 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 17 | -------------------------------------------------------------------------------- /configs/littledog_config/config/move_base/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | base_local_planner: dwa_local_planner/DWAPlannerROS 3 | 4 | shutdown_costmaps: false 5 | 6 | controller_frequency: 5.0 7 | controller_patience: 3.0 8 | 9 | planner_frequency: 0.5 10 | planner_patience: 5.0 11 | 12 | oscillation_timeout: 10.0 13 | oscillation_distance: 0.2 14 | 15 | conservative_reset_dist: 0.1 -------------------------------------------------------------------------------- /configs/littledog_config/config/ros_control/ros_control.yaml: -------------------------------------------------------------------------------- 1 | "": 2 | joint_states_controller: 3 | type: joint_state_controller/JointStateController 4 | publish_rate: 50 5 | 6 | joint_group_position_controller: 7 | type: effort_controllers/JointTrajectoryController 8 | joints: 9 | - front_left_hip_roll 10 | - front_left_hip_pitch 11 | - front_left_knee 12 | - front_right_hip_roll 13 | - front_right_hip_pitch 14 | - front_right_knee 15 | - back_left_hip_roll 16 | - back_left_hip_pitch 17 | - back_left_knee 18 | - back_right_hip_roll 19 | - back_right_hip_pitch 20 | - back_right_knee 21 | 22 | gains: 23 | front_left_hip_roll : {p: 180, d: 0.9, i: 20} 24 | front_left_hip_pitch : {p: 180, d: 0.9, i: 20} 25 | front_left_knee : {p: 180, d: 0.9, i: 20} 26 | front_right_hip_roll : {p: 180, d: 0.9, i: 20} 27 | front_right_hip_pitch : {p: 180, d: 0.9, i: 20} 28 | front_right_knee : {p: 180, d: 0.9, i: 20} 29 | back_left_hip_roll : {p: 180, d: 0.9, i: 20} 30 | back_left_hip_pitch : {p: 180, d: 0.9, i: 20} 31 | back_left_knee : {p: 180, d: 0.9, i: 20} 32 | back_right_hip_roll : {p: 180, d: 0.9, i: 20} 33 | back_right_hip_pitch : {p: 180, d: 0.9, i: 20} 34 | back_right_knee : {p: 180, d: 0.9, i: 20} 35 | -------------------------------------------------------------------------------- /configs/littledog_config/include/gait_config.h: -------------------------------------------------------------------------------- 1 | #ifndef GAIT_CONFIG_H 2 | #define GAIT_CONFIG_H 3 | 4 | #define KNEE_ORIENTATION "><" 5 | #define PANTOGRAPH_LEG false 6 | #define ODOM_SCALER 1.0 7 | #define MAX_LINEAR_VELOCITY_X 0.5 8 | #define MAX_LINEAR_VELOCITY_Y 0.25 9 | #define MAX_ANGULAR_VELOCITY_Z 1.0 10 | #define COM_X_TRANSLATION 0.0 11 | #define SWING_HEIGHT 0.02 12 | #define STANCE_DEPTH 0.0 13 | #define STANCE_DURATION 0.2 14 | #define NOMINAL_HEIGHT 0.14 15 | 16 | #endif -------------------------------------------------------------------------------- /configs/littledog_config/launch/navigate.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 29 | 30 | -------------------------------------------------------------------------------- /configs/littledog_config/launch/slam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 22 | 23 | -------------------------------------------------------------------------------- /configs/littledog_config/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/littledog_config/maps/map.pgm -------------------------------------------------------------------------------- /configs/littledog_config/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/littledog_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | littledog_config 4 | 0.1.0 5 | littledog Champ Config Package 6 | 7 | Juan Miguel Jimeno 8 | Juan Miguel Jimeno 9 | 10 | BSD 11 | 12 | catkin 13 | roslaunch 14 | rviz 15 | champ_base 16 | 17 | -------------------------------------------------------------------------------- /configs/littledog_config/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 4 | export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include 5 | 6 | bash -i -------------------------------------------------------------------------------- /configs/mini_cheetah_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(mini_cheetah_config) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() -------------------------------------------------------------------------------- /configs/mini_cheetah_config/config/gait/gait.yaml: -------------------------------------------------------------------------------- 1 | knee_orientation : ">>" 2 | pantograph_leg : false 3 | odom_scaler: 0.9 4 | max_linear_velocity_x : 0.5 5 | max_linear_velocity_y : 0.25 6 | max_angular_velocity_z : 1.0 7 | com_x_translation : 0.0 8 | swing_height : 0.05 9 | stance_depth : 0.0 10 | stance_duration : 0.3 11 | nominal_height : 0.3 -------------------------------------------------------------------------------- /configs/mini_cheetah_config/config/joints/joints.yaml: -------------------------------------------------------------------------------- 1 | left_front: 2 | - FL_hip_joint 3 | - FL_thigh_joint 4 | - FL_calf_joint 5 | - FL_foot_fixed 6 | 7 | right_front: 8 | - FR_hip_joint 9 | - FR_thigh_joint 10 | - FR_calf_joint 11 | - FR_foot_fixed 12 | 13 | left_hind: 14 | - RL_hip_joint 15 | - RL_thigh_joint 16 | - RL_calf_joint 17 | - RL_foot_fixed 18 | 19 | right_hind: 20 | - RR_hip_joint 21 | - RR_thigh_joint 22 | - RR_calf_joint 23 | - RR_foot_fixed -------------------------------------------------------------------------------- /configs/mini_cheetah_config/config/links/links.yaml: -------------------------------------------------------------------------------- 1 | base: trunk 2 | left_front: 3 | - FL_hip 4 | - FL_thigh 5 | - FL_calf 6 | - FL_foot 7 | 8 | right_front: 9 | - FR_hip 10 | - FR_thigh 11 | - FR_calf 12 | - FR_foot 13 | 14 | left_hind: 15 | - RL_hip 16 | - RL_thigh 17 | - RL_calf 18 | - RL_foot 19 | 20 | right_hind: 21 | - RR_hip 22 | - RR_thigh 23 | - RR_calf 24 | - RR_foot -------------------------------------------------------------------------------- /configs/mini_cheetah_config/config/move_base/base_local_planner_holonomic_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | #http://wiki.ros.org/dwa_local_planner 3 | 4 | min_vel_trans: 0.01 5 | max_vel_trans: 0.5 6 | 7 | min_vel_x: -0.025 8 | max_vel_x: 0.5 9 | 10 | min_vel_y: 0.0 11 | max_vel_y: 0.0 12 | 13 | max_vel_rot: 1.0 14 | min_vel_rot: -1.0 15 | 16 | acc_lim_trans: 3.0 17 | acc_lim_x: 3.0 18 | acc_lim_y: 0.0 19 | acc_lim_theta: 5.0 20 | 21 | trans_stopped_vel: 0.1 22 | theta_stopped_vel: 0.1 23 | 24 | xy_goal_tolerance: 0.25 25 | yaw_goal_tolerance: 0.34 26 | 27 | sim_time: 3.5 28 | sim_granularity: 0.1 29 | vx_samples: 20 30 | vy_samples: 0 31 | vth_samples: 40 32 | 33 | path_distance_bias: 34.0 34 | goal_distance_bias: 24.0 35 | occdist_scale: 0.05 36 | 37 | forward_point_distance: 0.2 38 | stop_time_buffer: 0.5 39 | scaling_speed: 0.25 40 | max_scaling_factor: 0.2 41 | 42 | oscillation_reset_dist: 0.05 43 | 44 | use_dwa: true 45 | 46 | prune_plan: false 47 | -------------------------------------------------------------------------------- /configs/mini_cheetah_config/config/move_base/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]] 4 | 5 | transform_tolerance: 0.5 6 | resolution: 0.05 7 | 8 | static_map_layer: 9 | map_topic: map 10 | subscribe_to_updates: true 11 | 12 | 2d_obstacles_layer: 13 | observation_sources: scan 14 | scan: {data_type: LaserScan, 15 | topic: scan, 16 | marking: true, 17 | clearing: true} 18 | 19 | 3d_obstacles_layer: 20 | observation_sources: depth 21 | depth: {data_type: PointCloud2, 22 | topic: camera/depth/points, 23 | min_obstacle_height: 0.1, 24 | marking: true, 25 | clearing: true} 26 | 27 | inflation_layer: 28 | inflation_radius: 2.0 -------------------------------------------------------------------------------- /configs/mini_cheetah_config/config/move_base/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | cost_scaling_factor: 10.0 8 | 9 | plugins: 10 | - {name: static_map_layer, type: "costmap_2d::StaticLayer"} 11 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 12 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 13 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 14 | -------------------------------------------------------------------------------- /configs/mini_cheetah_config/config/move_base/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 2.0 6 | 7 | static_map: false 8 | rolling_window: true 9 | width: 2.5 10 | height: 2.5 11 | cost_scaling_factor: 5 12 | 13 | plugins: 14 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 15 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 16 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 17 | -------------------------------------------------------------------------------- /configs/mini_cheetah_config/config/move_base/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | base_local_planner: dwa_local_planner/DWAPlannerROS 3 | 4 | shutdown_costmaps: false 5 | 6 | controller_frequency: 5.0 7 | controller_patience: 3.0 8 | 9 | planner_frequency: 0.5 10 | planner_patience: 5.0 11 | 12 | oscillation_timeout: 10.0 13 | oscillation_distance: 0.2 14 | 15 | conservative_reset_dist: 0.1 -------------------------------------------------------------------------------- /configs/mini_cheetah_config/config/ros_control/ros_control.yaml: -------------------------------------------------------------------------------- 1 | "": 2 | joint_states_controller: 3 | type: joint_state_controller/JointStateController 4 | publish_rate: 50 5 | 6 | joint_group_position_controller: 7 | type: effort_controllers/JointTrajectoryController 8 | joints: 9 | - FL_hip_joint 10 | - FL_thigh_joint 11 | - FL_calf_joint 12 | - FR_hip_joint 13 | - FR_thigh_joint 14 | - FR_calf_joint 15 | - RL_hip_joint 16 | - RL_thigh_joint 17 | - RL_calf_joint 18 | - RR_hip_joint 19 | - RR_thigh_joint 20 | - RR_calf_joint 21 | 22 | gains: 23 | FL_hip_joint : {p: 180, d: 6, i: 20} 24 | FL_thigh_joint : {p: 180, d: 6, i: 20} 25 | FL_calf_joint : {p: 180, d: 6, i: 20} 26 | FR_hip_joint : {p: 180, d: 6, i: 20} 27 | FR_thigh_joint : {p: 180, d: 6, i: 20} 28 | FR_calf_joint : {p: 180, d: 6, i: 20} 29 | RL_hip_joint : {p: 180, d: 6, i: 20} 30 | RL_thigh_joint : {p: 180, d: 6, i: 20} 31 | RL_calf_joint : {p: 180, d: 6, i: 20} 32 | RR_hip_joint : {p: 180, d: 6, i: 20} 33 | RR_thigh_joint : {p: 180, d: 6, i: 20} 34 | RR_calf_joint : {p: 180, d: 6, i: 20} 35 | -------------------------------------------------------------------------------- /configs/mini_cheetah_config/include/gait_config.h: -------------------------------------------------------------------------------- 1 | #ifndef GAIT_CONFIG_H 2 | #define GAIT_CONFIG_H 3 | 4 | #define KNEE_ORIENTATION ">>" 5 | #define PANTOGRAPH_LEG false 6 | #define ODOM_SCALER 1.0 7 | #define MAX_LINEAR_VELOCITY_X 0.5 8 | #define MAX_LINEAR_VELOCITY_Y 0.25 9 | #define MAX_ANGULAR_VELOCITY_Z 1.0 10 | #define COM_X_TRANSLATION -0.03 11 | #define SWING_HEIGHT 0.04 12 | #define STANCE_DEPTH 0.0 13 | #define STANCE_DURATION 0.25 14 | #define NOMINAL_HEIGHT 0.25 15 | 16 | #endif -------------------------------------------------------------------------------- /configs/mini_cheetah_config/include/quadruped_description.h: -------------------------------------------------------------------------------- 1 | #ifndef QUADRUPED_DESCRIPTION_H 2 | #define QUADRUPED_DESCRIPTION_H 3 | 4 | #include 5 | 6 | namespace champ 7 | { 8 | namespace URDF 9 | { 10 | void loadFromHeader(champ::QuadrupedBase &base) 11 | { 12 | base.lf.hip.setOrigin(0.19, 0.049, 0.0, 0.0, 0.0, 0.0); 13 | base.lf.upper_leg.setOrigin(0.0, 0.062, -0.0, 0.0, 0.0, 0.0); 14 | base.lf.lower_leg.setOrigin(0.0, 0.0, -0.209, 0.0, 0.0, 0.0); 15 | base.lf.foot.setOrigin(0.0, 0.0, -0.18, 0, 0, 0); 16 | 17 | base.rf.hip.setOrigin(0.19, -0.049, 0.0, 0.0, 0.0, 0.0); 18 | base.rf.upper_leg.setOrigin(0.0, -0.062, -0.0, 0.0, 0.0, 0.0); 19 | base.rf.lower_leg.setOrigin(0.0, 0.0, -0.209, 0.0, 0.0, 0.0); 20 | base.rf.foot.setOrigin(0.0, 0.0, -0.18, 0, 0, 0); 21 | 22 | base.lh.hip.setOrigin(-0.19, 0.049, 0.0, 0.0, 0.0, 0.0); 23 | base.lh.upper_leg.setOrigin(0.0, 0.062, -0.0, 0.0, 0.0, 0.0); 24 | base.lh.lower_leg.setOrigin(0.0, 0.0, -0.209, 0.0, 0.0, 0.0); 25 | base.lh.foot.setOrigin(0.0, 0.0, -0.18, 0, 0, 0); 26 | 27 | base.rh.hip.setOrigin(-0.19, -0.049, 0.0, 0.0, 0.0, 0.0); 28 | base.rh.upper_leg.setOrigin(0.0, -0.062, -0.0, 0.0, 0.0, 0.0); 29 | base.rh.lower_leg.setOrigin(0.0, 0.0, -0.209, 0.0, 0.0, 0.0); 30 | base.rh.foot.setOrigin(0.0, 0.0, -0.18, 0, 0, 0); 31 | } 32 | } 33 | } 34 | #endif -------------------------------------------------------------------------------- /configs/mini_cheetah_config/launch/slam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 22 | 23 | -------------------------------------------------------------------------------- /configs/mini_cheetah_config/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/mini_cheetah_config/maps/map.pgm -------------------------------------------------------------------------------- /configs/mini_cheetah_config/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/mini_cheetah_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | mini_cheetah_config 4 | 0.1.0 5 | mini_cheetah Champ Config Package 6 | 7 | Juan Miguel Jimeno 8 | Juan Miguel Jimeno 9 | 10 | BSD 11 | 12 | catkin 13 | roslaunch 14 | rviz 15 | champ_base 16 | 17 | -------------------------------------------------------------------------------- /configs/mini_cheetah_config/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 4 | export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include 5 | 6 | bash -i -------------------------------------------------------------------------------- /configs/mini_pupper_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(mini_pupper_config) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() -------------------------------------------------------------------------------- /configs/mini_pupper_config/config/gait/gait.yaml: -------------------------------------------------------------------------------- 1 | knee_orientation : ">>" 2 | pantograph_leg : false 3 | odom_scaler: 1.0 4 | max_linear_velocity_x : 0.2 5 | max_linear_velocity_y : 0.1 6 | max_angular_velocity_z : 0.45 7 | com_x_translation : 0.0 8 | swing_height : 0.008 9 | stance_depth : 0.0 10 | stance_duration : 0.25 11 | nominal_height : 0.045 -------------------------------------------------------------------------------- /configs/mini_pupper_config/config/joints/joints.yaml: -------------------------------------------------------------------------------- 1 | left_front: 2 | - lf_hip_joint 3 | - lf_upper_leg_joint 4 | - lf_lower_leg_joint 5 | - lf_foot_joint 6 | 7 | right_front: 8 | - rf_hip_joint 9 | - rf_upper_leg_joint 10 | - rf_lower_leg_joint 11 | - rf_foot_joint 12 | 13 | left_hind: 14 | - lh_hip_joint 15 | - lh_upper_leg_joint 16 | - lh_lower_leg_joint 17 | - lh_foot_joint 18 | 19 | right_hind: 20 | - rh_hip_joint 21 | - rh_upper_leg_joint 22 | - rh_lower_leg_joint 23 | - rh_foot_joint -------------------------------------------------------------------------------- /configs/mini_pupper_config/config/links/links.yaml: -------------------------------------------------------------------------------- 1 | base: base_link 2 | left_front: 3 | - lf_hip_link 4 | - lf_upper_leg_link 5 | - lf_lower_leg_link 6 | - lf_foot_link 7 | 8 | right_front: 9 | - rf_hip_link 10 | - rf_upper_leg_link 11 | - rf_lower_leg_link 12 | - rf_foot_link 13 | 14 | left_hind: 15 | - lh_hip_link 16 | - lh_upper_leg_link 17 | - lh_lower_leg_link 18 | - lh_foot_link 19 | 20 | right_hind: 21 | - rh_hip_link 22 | - rh_upper_leg_link 23 | - rh_lower_leg_link 24 | - rh_foot_link -------------------------------------------------------------------------------- /configs/mini_pupper_config/config/move_base/base_local_planner_holonomic_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | #http://wiki.ros.org/dwa_local_planner 3 | 4 | min_vel_trans: 0.01 5 | max_vel_trans: 0.5 6 | 7 | min_vel_x: -0.025 8 | max_vel_x: 0.5 9 | 10 | min_vel_y: 0.0 11 | max_vel_y: 0.0 12 | 13 | max_vel_rot: 1.0 14 | min_vel_rot: -1.0 15 | 16 | acc_lim_trans: 1.7 17 | acc_lim_x: 1.7 18 | acc_lim_y: 0.0 19 | acc_lim_theta: 3 20 | 21 | trans_stopped_vel: 0.1 22 | theta_stopped_vel: 0.1 23 | 24 | xy_goal_tolerance: 0.25 25 | yaw_goal_tolerance: 0.34 26 | 27 | sim_time: 3.5 28 | sim_granularity: 0.1 29 | vx_samples: 20 30 | vy_samples: 0 31 | vth_samples: 40 32 | 33 | path_distance_bias: 34.0 34 | goal_distance_bias: 24.0 35 | occdist_scale: 0.05 36 | 37 | forward_point_distance: 0.2 38 | stop_time_buffer: 0.5 39 | scaling_speed: 0.25 40 | max_scaling_factor: 0.2 41 | 42 | oscillation_reset_dist: 0.05 43 | 44 | use_dwa: true 45 | 46 | prune_plan: false 47 | -------------------------------------------------------------------------------- /configs/mini_pupper_config/config/move_base/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]] 4 | 5 | transform_tolerance: 0.5 6 | resolution: 0.05 7 | 8 | static_map_layer: 9 | map_topic: map 10 | subscribe_to_updates: true 11 | 12 | 2d_obstacles_layer: 13 | observation_sources: scan 14 | scan: {data_type: LaserScan, 15 | topic: scan, 16 | marking: true, 17 | clearing: true} 18 | 19 | 3d_obstacles_layer: 20 | observation_sources: depth 21 | depth: {data_type: PointCloud2, 22 | topic: camera/depth/points, 23 | min_obstacle_height: 0.1, 24 | marking: true, 25 | clearing: true} 26 | 27 | inflation_layer: 28 | inflation_radius: 2.0 -------------------------------------------------------------------------------- /configs/mini_pupper_config/config/move_base/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | cost_scaling_factor: 10.0 8 | 9 | plugins: 10 | - {name: static_map_layer, type: "costmap_2d::StaticLayer"} 11 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 12 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 13 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 14 | -------------------------------------------------------------------------------- /configs/mini_pupper_config/config/move_base/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 2.0 6 | 7 | static_map: false 8 | rolling_window: true 9 | width: 2.5 10 | height: 2.5 11 | cost_scaling_factor: 5 12 | 13 | plugins: 14 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 15 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 16 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 17 | -------------------------------------------------------------------------------- /configs/mini_pupper_config/config/move_base/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | base_local_planner: dwa_local_planner/DWAPlannerROS 3 | 4 | shutdown_costmaps: false 5 | 6 | controller_frequency: 5.0 7 | controller_patience: 3.0 8 | 9 | planner_frequency: 0.5 10 | planner_patience: 5.0 11 | 12 | oscillation_timeout: 10.0 13 | oscillation_distance: 0.2 14 | 15 | conservative_reset_dist: 0.1 -------------------------------------------------------------------------------- /configs/mini_pupper_config/config/ros_control/ros_control.yaml: -------------------------------------------------------------------------------- 1 | "": 2 | joint_states_controller: 3 | type: joint_state_controller/JointStateController 4 | publish_rate: 50 5 | 6 | joint_group_position_controller: 7 | type: effort_controllers/JointTrajectoryController 8 | joints: 9 | - lf_hip_joint 10 | - lf_upper_leg_joint 11 | - lf_lower_leg_joint 12 | - rf_hip_joint 13 | - rf_upper_leg_joint 14 | - rf_lower_leg_joint 15 | - lh_hip_joint 16 | - lh_upper_leg_joint 17 | - lh_lower_leg_joint 18 | - rh_hip_joint 19 | - rh_upper_leg_joint 20 | - rh_lower_leg_joint 21 | 22 | gains: 23 | lf_hip_joint : {p: 100, d: 0.05, i: 25} 24 | lf_upper_leg_joint : {p: 100, d: 0.05, i: 25} 25 | lf_lower_leg_joint : {p: 100, d: 0.05, i: 25} 26 | rf_hip_joint : {p: 100, d: 0.05, i: 25} 27 | rf_upper_leg_joint : {p: 100, d: 0.05, i: 25} 28 | rf_lower_leg_joint : {p: 100, d: 0.05, i: 25} 29 | lh_hip_joint : {p: 100, d: 0.05, i: 25} 30 | lh_upper_leg_joint : {p: 100, d: 0.05, i: 25} 31 | lh_lower_leg_joint : {p: 100, d: 0.05, i: 25} 32 | rh_hip_joint : {p: 100, d: 0.05, i: 25} 33 | rh_upper_leg_joint : {p: 100, d: 0.05, i: 25} 34 | rh_lower_leg_joint : {p: 100, d: 0.05, i: 25} 35 | -------------------------------------------------------------------------------- /configs/mini_pupper_config/include/gait_config.h: -------------------------------------------------------------------------------- 1 | #ifndef GAIT_CONFIG_H 2 | #define GAIT_CONFIG_H 3 | 4 | #define KNEE_ORIENTATION ">>" 5 | #define PANTOGRAPH_LEG false 6 | #define ODOM_SCALER 1.0 7 | #define MAX_LINEAR_VELOCITY_X 0.2 8 | #define MAX_LINEAR_VELOCITY_Y 0.1 9 | #define MAX_ANGULAR_VELOCITY_Z 0.45 10 | #define COM_X_TRANSLATION 0.0 11 | #define SWING_HEIGHT 0.008 12 | #define STANCE_DEPTH 0.0 13 | #define STANCE_DURATION 0.25 14 | #define NOMINAL_HEIGHT 0.045 15 | 16 | #endif -------------------------------------------------------------------------------- /configs/mini_pupper_config/launch/slam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 22 | 23 | -------------------------------------------------------------------------------- /configs/mini_pupper_config/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/mini_pupper_config/maps/map.pgm -------------------------------------------------------------------------------- /configs/mini_pupper_config/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/mini_pupper_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | mini_pupper_config 4 | 0.1.0 5 | mini_pupper Champ Config Package 6 | 7 | Juan Miguel Jimeno 8 | Juan Miguel Jimeno 9 | 10 | BSD 11 | 12 | catkin 13 | roslaunch 14 | rviz 15 | champ_base 16 | 17 | -------------------------------------------------------------------------------- /configs/mini_pupper_config/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 4 | export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include 5 | 6 | bash -i -------------------------------------------------------------------------------- /configs/open_quadruped_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(open_quadruped_config) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() -------------------------------------------------------------------------------- /configs/open_quadruped_config/config/gait/gait.yaml: -------------------------------------------------------------------------------- 1 | knee_orientation : ">>" 2 | pantograph_leg : false 3 | odom_scaler: 1.15 4 | max_linear_velocity_x : 0.3 5 | max_linear_velocity_y : 0.15 6 | max_angular_velocity_z : 1.0 7 | com_x_translation : -0.03 8 | swing_height : 0.02 9 | stance_depth : 0.0 10 | stance_duration : 0.25 11 | nominal_height : 0.15 -------------------------------------------------------------------------------- /configs/open_quadruped_config/config/joints/joints.yaml: -------------------------------------------------------------------------------- 1 | left_front: 2 | - motor_front_left_hip 3 | - motor_front_left_upper_leg 4 | - motor_front_left_lower_leg 5 | - front_left_leg_foot 6 | 7 | right_front: 8 | - motor_front_right_hip 9 | - motor_front_right_upper_leg 10 | - motor_front_right_lower_leg 11 | - front_right_leg_foot 12 | 13 | left_hind: 14 | - motor_back_left_hip 15 | - motor_back_left_upper_leg 16 | - motor_back_left_lower_leg 17 | - back_left_leg_foot 18 | 19 | right_hind: 20 | - motor_back_right_hip 21 | - motor_back_right_upper_leg 22 | - motor_back_right_lower_leg 23 | - back_right_leg_foot -------------------------------------------------------------------------------- /configs/open_quadruped_config/config/links/links.yaml: -------------------------------------------------------------------------------- 1 | base: base_link 2 | left_front: 3 | - front_left_hip 4 | - front_left_upper_leg 5 | - front_left_lower_leg 6 | - front_left_foot 7 | 8 | right_front: 9 | - front_right_hip 10 | - front_right_upper_leg 11 | - front_right_lower_leg 12 | - front_right_foot 13 | 14 | left_hind: 15 | - back_left_hip 16 | - back_left_upper_leg 17 | - back_left_lower_leg 18 | - back_left_foot 19 | 20 | right_hind: 21 | - back_right_hip 22 | - back_right_upper_leg 23 | - back_right_lower_leg 24 | - back_right_foot -------------------------------------------------------------------------------- /configs/open_quadruped_config/config/move_base/base_local_planner_holonomic_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | #http://wiki.ros.org/dwa_local_planner 3 | 4 | min_vel_trans: 0.01 5 | max_vel_trans: 0.3 6 | 7 | min_vel_x: -0.025 8 | max_vel_x: 0.3 9 | 10 | min_vel_y: 0.0 11 | max_vel_y: 0.0 12 | 13 | max_vel_rot: 1.0 14 | min_vel_rot: -1.0 15 | 16 | acc_lim_trans: 1.7 17 | acc_lim_x: 1.7 18 | acc_lim_y: 0.0 19 | acc_lim_theta: 3 20 | 21 | trans_stopped_vel: 0.1 22 | theta_stopped_vel: 0.1 23 | 24 | xy_goal_tolerance: 0.25 25 | yaw_goal_tolerance: 0.34 26 | 27 | sim_time: 3.5 28 | sim_granularity: 0.1 29 | vx_samples: 20 30 | vy_samples: 0 31 | vth_samples: 40 32 | 33 | path_distance_bias: 34.0 34 | goal_distance_bias: 24.0 35 | occdist_scale: 0.05 36 | 37 | forward_point_distance: 0.2 38 | stop_time_buffer: 0.5 39 | scaling_speed: 0.25 40 | max_scaling_factor: 0.2 41 | 42 | oscillation_reset_dist: 0.05 43 | 44 | use_dwa: true 45 | 46 | prune_plan: false 47 | -------------------------------------------------------------------------------- /configs/open_quadruped_config/config/move_base/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]] 4 | 5 | transform_tolerance: 0.5 6 | resolution: 0.05 7 | 8 | static_map_layer: 9 | map_topic: map 10 | subscribe_to_updates: true 11 | 12 | 2d_obstacles_layer: 13 | observation_sources: scan 14 | scan: {data_type: LaserScan, 15 | topic: scan, 16 | marking: true, 17 | clearing: true} 18 | 19 | 3d_obstacles_layer: 20 | observation_sources: depth 21 | depth: {data_type: PointCloud2, 22 | topic: camera/depth/points, 23 | min_obstacle_height: 0.1, 24 | marking: true, 25 | clearing: true} 26 | 27 | inflation_layer: 28 | inflation_radius: 2.0 -------------------------------------------------------------------------------- /configs/open_quadruped_config/config/move_base/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | cost_scaling_factor: 10.0 8 | 9 | plugins: 10 | - {name: static_map_layer, type: "costmap_2d::StaticLayer"} 11 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 12 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 13 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 14 | -------------------------------------------------------------------------------- /configs/open_quadruped_config/config/move_base/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 2.0 6 | 7 | static_map: false 8 | rolling_window: true 9 | width: 2.5 10 | height: 2.5 11 | cost_scaling_factor: 5 12 | 13 | plugins: 14 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 15 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 16 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 17 | -------------------------------------------------------------------------------- /configs/open_quadruped_config/config/move_base/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | base_local_planner: dwa_local_planner/DWAPlannerROS 3 | 4 | shutdown_costmaps: false 5 | 6 | controller_frequency: 5.0 7 | controller_patience: 3.0 8 | 9 | planner_frequency: 0.5 10 | planner_patience: 5.0 11 | 12 | oscillation_timeout: 10.0 13 | oscillation_distance: 0.2 14 | 15 | conservative_reset_dist: 0.1 -------------------------------------------------------------------------------- /configs/open_quadruped_config/include/gait_config.h: -------------------------------------------------------------------------------- 1 | #ifndef GAIT_CONFIG_H 2 | #define GAIT_CONFIG_H 3 | 4 | #define KNEE_ORIENTATION ">>" 5 | #define PANTOGRAPH_LEG false 6 | #define ODOM_SCALER 1.15 7 | #define MAX_LINEAR_VELOCITY_X 0.3 8 | #define MAX_LINEAR_VELOCITY_Y 0.15 9 | #define MAX_ANGULAR_VELOCITY_Z 1.0 10 | #define COM_X_TRANSLATION -0.03 11 | #define SWING_HEIGHT 0.02 12 | #define STANCE_DEPTH 0.0 13 | #define STANCE_DURATION 0.25 14 | #define NOMINAL_HEIGHT 0.15 15 | 16 | #endif -------------------------------------------------------------------------------- /configs/open_quadruped_config/launch/slam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 22 | 23 | -------------------------------------------------------------------------------- /configs/open_quadruped_config/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/open_quadruped_config/maps/map.pgm -------------------------------------------------------------------------------- /configs/open_quadruped_config/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/open_quadruped_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | open_quadruped_config 4 | 0.1.0 5 | open_quadruped Champ Config Package 6 | 7 | Juan Miguel Jimeno 8 | Juan Miguel Jimeno 9 | 10 | BSD 11 | 12 | catkin 13 | roslaunch 14 | rviz 15 | champ_base 16 | 17 | -------------------------------------------------------------------------------- /configs/open_quadruped_config/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 4 | export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include 5 | 6 | bash -i -------------------------------------------------------------------------------- /configs/opendog_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(opendog_config) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() -------------------------------------------------------------------------------- /configs/opendog_config/config/gait/gait.yaml: -------------------------------------------------------------------------------- 1 | knee_orientation : ">>" 2 | pantograph_leg : false 3 | odom_scaler: 1.0 4 | max_linear_velocity_x : 0.5 5 | max_linear_velocity_y : 0.25 6 | max_angular_velocity_z : 1.0 7 | com_x_translation : -0.05 8 | swing_height : 0.035 9 | stance_depth : 0.0 10 | stance_duration : 0.25 11 | nominal_height : 0.28 -------------------------------------------------------------------------------- /configs/opendog_config/config/joints/joints.yaml: -------------------------------------------------------------------------------- 1 | left_front: 2 | - lf_hip_joint 3 | - lf_upper_leg_joint 4 | - lf_lower_leg_joint 5 | - lf_foot_joint 6 | 7 | right_front: 8 | - rf_hip_joint 9 | - rf_upper_leg_joint 10 | - rf_lower_leg_joint 11 | - rf_foot_joint 12 | 13 | left_hind: 14 | - lh_hip_joint 15 | - lh_upper_leg_joint 16 | - lh_lower_leg_joint 17 | - lh_foot_joint 18 | 19 | right_hind: 20 | - rh_hip_joint 21 | - rh_upper_leg_joint 22 | - rh_lower_leg_joint 23 | - rh_foot_joint -------------------------------------------------------------------------------- /configs/opendog_config/config/links/links.yaml: -------------------------------------------------------------------------------- 1 | base: base_link 2 | left_front: 3 | - lf_hip_link 4 | - lf_upper_leg_link 5 | - lf_lower_leg_link 6 | - lf_foot_link 7 | 8 | right_front: 9 | - rf_hip_link 10 | - rf_upper_leg_link 11 | - rf_lower_leg_link 12 | - rf_foot_link 13 | 14 | left_hind: 15 | - lh_hip_link 16 | - lh_upper_leg_link 17 | - lh_lower_leg_link 18 | - lh_foot_link 19 | 20 | right_hind: 21 | - rh_hip_link 22 | - rh_upper_leg_link 23 | - rh_lower_leg_link 24 | - rh_foot_link -------------------------------------------------------------------------------- /configs/opendog_config/config/move_base/base_local_planner_holonomic_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | #http://wiki.ros.org/dwa_local_planner 3 | 4 | min_vel_trans: 0.01 5 | max_vel_trans: 0.5 6 | 7 | min_vel_x: -0.025 8 | max_vel_x: 0.5 9 | 10 | min_vel_y: 0.0 11 | max_vel_y: 0.0 12 | 13 | max_vel_rot: 1.0 14 | min_vel_rot: -1.0 15 | 16 | acc_lim_trans: 1.7 17 | acc_lim_x: 1.7 18 | acc_lim_y: 0.0 19 | acc_lim_theta: 3 20 | 21 | trans_stopped_vel: 0.1 22 | theta_stopped_vel: 0.1 23 | 24 | xy_goal_tolerance: 0.25 25 | yaw_goal_tolerance: 0.34 26 | 27 | sim_time: 3.5 28 | sim_granularity: 0.1 29 | vx_samples: 20 30 | vy_samples: 0 31 | vth_samples: 40 32 | 33 | path_distance_bias: 34.0 34 | goal_distance_bias: 24.0 35 | occdist_scale: 0.05 36 | 37 | forward_point_distance: 0.2 38 | stop_time_buffer: 0.5 39 | scaling_speed: 0.25 40 | max_scaling_factor: 0.2 41 | 42 | oscillation_reset_dist: 0.05 43 | 44 | use_dwa: true 45 | 46 | prune_plan: false 47 | -------------------------------------------------------------------------------- /configs/opendog_config/config/move_base/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]] 4 | 5 | transform_tolerance: 0.5 6 | resolution: 0.05 7 | 8 | static_map_layer: 9 | map_topic: map 10 | subscribe_to_updates: true 11 | 12 | 2d_obstacles_layer: 13 | observation_sources: scan 14 | scan: {data_type: LaserScan, 15 | topic: scan, 16 | marking: true, 17 | clearing: true} 18 | 19 | 3d_obstacles_layer: 20 | observation_sources: depth 21 | depth: {data_type: PointCloud2, 22 | topic: camera/depth/points, 23 | min_obstacle_height: 0.1, 24 | marking: true, 25 | clearing: true} 26 | 27 | inflation_layer: 28 | inflation_radius: 2.0 -------------------------------------------------------------------------------- /configs/opendog_config/config/move_base/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | cost_scaling_factor: 10.0 8 | 9 | plugins: 10 | - {name: static_map_layer, type: "costmap_2d::StaticLayer"} 11 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 12 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 13 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 14 | -------------------------------------------------------------------------------- /configs/opendog_config/config/move_base/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 2.0 6 | 7 | static_map: false 8 | rolling_window: true 9 | width: 2.5 10 | height: 2.5 11 | cost_scaling_factor: 5 12 | 13 | plugins: 14 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 15 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 16 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 17 | -------------------------------------------------------------------------------- /configs/opendog_config/config/move_base/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | base_local_planner: dwa_local_planner/DWAPlannerROS 3 | 4 | shutdown_costmaps: false 5 | 6 | controller_frequency: 5.0 7 | controller_patience: 3.0 8 | 9 | planner_frequency: 0.5 10 | planner_patience: 5.0 11 | 12 | oscillation_timeout: 10.0 13 | oscillation_distance: 0.2 14 | 15 | conservative_reset_dist: 0.1 -------------------------------------------------------------------------------- /configs/opendog_config/config/ros_control/ros_control.yaml: -------------------------------------------------------------------------------- 1 | "": 2 | joint_states_controller: 3 | type: joint_state_controller/JointStateController 4 | publish_rate: 50 5 | 6 | joint_group_position_controller: 7 | type: effort_controllers/JointTrajectoryController 8 | joints: 9 | - lf_hip_joint 10 | - lf_upper_leg_joint 11 | - lf_lower_leg_joint 12 | - rf_hip_joint 13 | - rf_upper_leg_joint 14 | - rf_lower_leg_joint 15 | - lh_hip_joint 16 | - lh_upper_leg_joint 17 | - lh_lower_leg_joint 18 | - rh_hip_joint 19 | - rh_upper_leg_joint 20 | - rh_lower_leg_joint 21 | 22 | gains: 23 | lf_hip_joint : {p: 180, d: 0.9, i: 20} 24 | lf_upper_leg_joint : {p: 180, d: 0.9, i: 20} 25 | lf_lower_leg_joint : {p: 180, d: 0.9, i: 20} 26 | rf_hip_joint : {p: 180, d: 0.9, i: 20} 27 | rf_upper_leg_joint : {p: 180, d: 0.9, i: 20} 28 | rf_lower_leg_joint : {p: 180, d: 0.9, i: 20} 29 | lh_hip_joint : {p: 180, d: 0.9, i: 20} 30 | lh_upper_leg_joint : {p: 180, d: 0.9, i: 20} 31 | lh_lower_leg_joint : {p: 180, d: 0.9, i: 20} 32 | rh_hip_joint : {p: 180, d: 0.9, i: 20} 33 | rh_upper_leg_joint : {p: 180, d: 0.9, i: 20} 34 | rh_lower_leg_joint : {p: 180, d: 0.9, i: 20} 35 | -------------------------------------------------------------------------------- /configs/opendog_config/include/gait_config.h: -------------------------------------------------------------------------------- 1 | #ifndef GAIT_CONFIG_H 2 | #define GAIT_CONFIG_H 3 | 4 | #define KNEE_ORIENTATION ">>" 5 | #define PANTOGRAPH_LEG false 6 | #define ODOM_SCALER 1.15 7 | #define MAX_LINEAR_VELOCITY_X 0.5 8 | #define MAX_LINEAR_VELOCITY_Y 0.25 9 | #define MAX_ANGULAR_VELOCITY_Z 1.0 10 | #define COM_X_TRANSLATION -0.05 11 | #define SWING_HEIGHT 0.035 12 | #define STANCE_DEPTH 0.0 13 | #define STANCE_DURATION 0.25 14 | #define NOMINAL_HEIGHT 0.35 15 | 16 | #endif -------------------------------------------------------------------------------- /configs/opendog_config/include/quadruped_description.h: -------------------------------------------------------------------------------- 1 | #ifndef QUADRUPED_DESCRIPTION_H 2 | #define QUADRUPED_DESCRIPTION_H 3 | 4 | #include 5 | 6 | namespace champ 7 | { 8 | namespace URDF 9 | { 10 | void loadFromHeader(champ::QuadrupedBase &base) 11 | { 12 | base.lf.hip.setOrigin(0.265, 0.125, 0.0, 0.0, 0.0, 0.0); 13 | base.lf.upper_leg.setOrigin(0.0, 0.07, -0.0, 0.0, 0.0, 0.0); 14 | base.lf.lower_leg.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0); 15 | base.lf.foot.setOrigin(0.0, -0.07, -0.23, 0.0, 0.0, 0.0); 16 | 17 | base.rf.hip.setOrigin(0.265, -0.125, 0.0, 0.0, 0.0, 0.0); 18 | base.rf.upper_leg.setOrigin(0.0, -0.07, -0.0, 0.0, 0.0, 0.0); 19 | base.rf.lower_leg.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0); 20 | base.rf.foot.setOrigin(0.0, 0.07, -0.23, 0.0, 0.0, 0.0); 21 | 22 | base.lh.hip.setOrigin(-0.16, 0.125, 0.0, 0.0, 0.0, 0.0); 23 | base.lh.upper_leg.setOrigin(0.0, 0.07, -0.0, 0.0, 0.0, 0.0); 24 | base.lh.lower_leg.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0); 25 | base.lh.foot.setOrigin(0.0, -0.07, -0.23, 0.0, 0.0, 0.0); 26 | 27 | base.rh.hip.setOrigin(-0.16, -0.125, 0.0, 0.0, 0.0, 0.0); 28 | base.rh.upper_leg.setOrigin(0.0, -0.07, -0.0, 0.0, 0.0, 0.0); 29 | base.rh.lower_leg.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0); 30 | base.rh.foot.setOrigin(0.0, 0.07, -0.23, 0.0, 0.0, 0.0); 31 | } 32 | } 33 | } 34 | #endif -------------------------------------------------------------------------------- /configs/opendog_config/launch/navigate.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 29 | 30 | -------------------------------------------------------------------------------- /configs/opendog_config/launch/slam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 22 | 23 | -------------------------------------------------------------------------------- /configs/opendog_config/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/opendog_config/maps/map.pgm -------------------------------------------------------------------------------- /configs/opendog_config/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/opendog_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | opendog_config 4 | 0.1.0 5 | opendog Champ Config Package 6 | 7 | Juan Miguel Jimeno 8 | Juan Miguel Jimeno 9 | 10 | BSD 11 | 12 | catkin 13 | roslaunch 14 | rviz 15 | champ_base 16 | 17 | -------------------------------------------------------------------------------- /configs/opendog_config/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 4 | export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include 5 | 6 | bash -i -------------------------------------------------------------------------------- /configs/spot_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(spot_config) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY config launch maps worlds 9 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 10 | ) 11 | -------------------------------------------------------------------------------- /configs/spot_config/config/gait/gait.yaml: -------------------------------------------------------------------------------- 1 | knee_orientation : ">>" 2 | pantograph_leg : false 3 | odom_scaler: 1.0 4 | max_linear_velocity_x : 1.5 5 | max_linear_velocity_y : 0.25 6 | max_angular_velocity_z : 1.0 7 | com_x_translation : -0.05 8 | swing_height : 0.06 9 | stance_depth : -0.01 10 | stance_duration : 0.4 11 | nominal_height : 0.48 -------------------------------------------------------------------------------- /configs/spot_config/config/joints/joints.yaml: -------------------------------------------------------------------------------- 1 | left_front: 2 | - front_left_hip_x 3 | - front_left_hip_y 4 | - front_left_knee 5 | - front_left_foot 6 | 7 | right_front: 8 | - front_right_hip_x 9 | - front_right_hip_y 10 | - front_right_knee 11 | - front_right_foot 12 | 13 | left_hind: 14 | - rear_left_hip_x 15 | - rear_left_hip_y 16 | - rear_left_knee 17 | - rear_left_foot 18 | 19 | right_hind: 20 | - rear_right_hip_x 21 | - rear_right_hip_y 22 | - rear_right_knee 23 | - rear_right_foot -------------------------------------------------------------------------------- /configs/spot_config/config/links/links.yaml: -------------------------------------------------------------------------------- 1 | base: body 2 | left_front: 3 | - front_left_hip 4 | - front_left_upper_leg 5 | - front_left_lower_leg 6 | - front_left_ee 7 | 8 | right_front: 9 | - front_right_hip 10 | - front_right_upper_leg 11 | - front_right_lower_leg 12 | - front_right_ee 13 | 14 | left_hind: 15 | - rear_left_hip 16 | - rear_left_upper_leg 17 | - rear_left_lower_leg 18 | - rear_left_ee 19 | 20 | right_hind: 21 | - rear_right_hip 22 | - rear_right_upper_leg 23 | - rear_right_lower_leg 24 | - rear_right_ee -------------------------------------------------------------------------------- /configs/spot_config/config/move_base/base_local_planner_holonomic_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | #http://wiki.ros.org/dwa_local_planner 3 | 4 | min_vel_trans: 0.01 5 | max_vel_trans: 1.0 6 | 7 | min_vel_x: -0.025 8 | max_vel_x: 1.0 9 | 10 | min_vel_y: 0.0 11 | max_vel_y: 0.0 12 | 13 | max_vel_rot: 1.0 14 | min_vel_rot: -1.0 15 | 16 | acc_lim_trans: 3.0 17 | acc_lim_x: 3.0 18 | acc_lim_y: 0.0 19 | acc_lim_theta: 5 20 | 21 | trans_stopped_vel: 0.1 22 | theta_stopped_vel: 0.1 23 | 24 | xy_goal_tolerance: 0.25 25 | yaw_goal_tolerance: 0.34 26 | 27 | sim_time: 3.5 28 | sim_granularity: 0.1 29 | vx_samples: 20 30 | vy_samples: 0 31 | vth_samples: 40 32 | 33 | path_distance_bias: 34.0 34 | goal_distance_bias: 24.0 35 | occdist_scale: 0.05 36 | 37 | forward_point_distance: 0.2 38 | stop_time_buffer: 0.5 39 | scaling_speed: 0.25 40 | max_scaling_factor: 0.2 41 | 42 | oscillation_reset_dist: 0.05 43 | 44 | use_dwa: true 45 | 46 | prune_plan: false 47 | -------------------------------------------------------------------------------- /configs/spot_config/config/move_base/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]] 4 | 5 | transform_tolerance: 0.5 6 | resolution: 0.05 7 | 8 | static_map_layer: 9 | map_topic: map 10 | subscribe_to_updates: true 11 | 12 | 2d_obstacles_layer: 13 | observation_sources: scan 14 | scan: {data_type: LaserScan, 15 | topic: scan, 16 | marking: true, 17 | clearing: true} 18 | 19 | 3d_obstacles_layer: 20 | observation_sources: depth 21 | depth: {data_type: PointCloud2, 22 | topic: camera/depth/points, 23 | min_obstacle_height: 0.1, 24 | marking: true, 25 | clearing: true} 26 | 27 | inflation_layer: 28 | inflation_radius: 2.0 -------------------------------------------------------------------------------- /configs/spot_config/config/move_base/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | cost_scaling_factor: 10.0 8 | 9 | plugins: 10 | - {name: static_map_layer, type: "costmap_2d::StaticLayer"} 11 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 12 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 13 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 14 | -------------------------------------------------------------------------------- /configs/spot_config/config/move_base/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 2.0 6 | 7 | static_map: false 8 | rolling_window: true 9 | width: 2.5 10 | height: 2.5 11 | cost_scaling_factor: 5 12 | 13 | plugins: 14 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 15 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 16 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 17 | -------------------------------------------------------------------------------- /configs/spot_config/config/move_base/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | base_local_planner: dwa_local_planner/DWAPlannerROS 3 | 4 | shutdown_costmaps: false 5 | 6 | controller_frequency: 5.0 7 | controller_patience: 3.0 8 | 9 | planner_frequency: 0.5 10 | planner_patience: 5.0 11 | 12 | oscillation_timeout: 10.0 13 | oscillation_distance: 0.2 14 | 15 | conservative_reset_dist: 0.1 -------------------------------------------------------------------------------- /configs/spot_config/config/ros_control/ros_control.yaml: -------------------------------------------------------------------------------- 1 | "": 2 | joint_states_controller: 3 | type: joint_state_controller/JointStateController 4 | publish_rate: 50 5 | 6 | joint_group_position_controller: 7 | type: effort_controllers/JointTrajectoryController 8 | joints: 9 | - front_left_hip_x 10 | - front_left_hip_y 11 | - front_left_knee 12 | - front_right_hip_x 13 | - front_right_hip_y 14 | - front_right_knee 15 | - rear_left_hip_x 16 | - rear_left_hip_y 17 | - rear_left_knee 18 | - rear_right_hip_x 19 | - rear_right_hip_y 20 | - rear_right_knee 21 | 22 | gains: 23 | front_left_hip_x : {p: 600, i: 0.9, d: 20} 24 | front_left_hip_y : {p: 600, i: 0.9, d: 20} 25 | front_left_knee : {p: 600, i: 0.9, d: 20} 26 | front_right_hip_x : {p: 600, i: 0.9, d: 20} 27 | front_right_hip_y : {p: 600, i: 0.9, d: 20} 28 | front_right_knee : {p: 600, i: 0.9, d: 20} 29 | rear_left_hip_x : {p: 600, i: 0.9, d: 20} 30 | rear_left_hip_y : {p: 600, i: 0.9, d: 20} 31 | rear_left_knee : {p: 600, i: 0.9, d: 20} 32 | rear_right_hip_x : {p: 600, i: 0.9, d: 20} 33 | rear_right_hip_y : {p: 600, i: 0.9, d: 20} 34 | rear_right_knee : {p: 600, i: 0.9, d: 20} 35 | -------------------------------------------------------------------------------- /configs/spot_config/include/gait_config.h: -------------------------------------------------------------------------------- 1 | #ifndef GAIT_CONFIG_H 2 | #define GAIT_CONFIG_H 3 | 4 | #define KNEE_ORIENTATION ">>" 5 | #define PANTOGRAPH_LEG false 6 | #define ODOM_SCALER 1.0 7 | #define MAX_LINEAR_VELOCITY_X 0.5 8 | #define MAX_LINEAR_VELOCITY_Y 0.25 9 | #define MAX_ANGULAR_VELOCITY_Z 1.0 10 | #define COM_X_TRANSLATION 0.0 11 | #define SWING_HEIGHT 0.04 12 | #define STANCE_DEPTH 0.0 13 | #define STANCE_DURATION 0.25 14 | #define NOMINAL_HEIGHT 0.4 15 | 16 | #endif -------------------------------------------------------------------------------- /configs/spot_config/launch/navigate.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 29 | 30 | -------------------------------------------------------------------------------- /configs/spot_config/launch/slam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 22 | 23 | -------------------------------------------------------------------------------- /configs/spot_config/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/spot_config/maps/map.pgm -------------------------------------------------------------------------------- /configs/spot_config/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/spot_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | spot_config 4 | 0.1.0 5 | spot Champ Config Package 6 | 7 | Juan Miguel Jimeno 8 | Juan Miguel Jimeno 9 | 10 | BSD 11 | 12 | catkin 13 | roslaunch 14 | rviz 15 | champ_base 16 | 17 | -------------------------------------------------------------------------------- /configs/spot_config/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 4 | export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include 5 | 6 | bash -i -------------------------------------------------------------------------------- /configs/spotmicro_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(spotmicro_config) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() -------------------------------------------------------------------------------- /configs/spotmicro_config/config/gait/gait.yaml: -------------------------------------------------------------------------------- 1 | knee_orientation : ">>" 2 | pantograph_leg : false 3 | odom_scaler: 1.0 4 | max_linear_velocity_x : 0.5 5 | max_linear_velocity_y : 0.25 6 | max_angular_velocity_z : 1.0 7 | com_x_translation : 0.0 8 | swing_height : 0.02 9 | stance_depth : 0.0 10 | stance_duration : 0.25 11 | nominal_height : 0.15 -------------------------------------------------------------------------------- /configs/spotmicro_config/config/joints/joints.yaml: -------------------------------------------------------------------------------- 1 | left_front: 2 | - front_left_shoulder 3 | - front_left_leg 4 | - front_left_foot 5 | - front_left_toe 6 | 7 | right_front: 8 | - front_right_shoulder 9 | - front_right_leg 10 | - front_right_foot 11 | - front_right_toe 12 | 13 | left_hind: 14 | - rear_left_shoulder 15 | - rear_left_leg 16 | - rear_left_foot 17 | - rear_left_toe 18 | 19 | right_hind: 20 | - rear_right_shoulder 21 | - rear_right_leg 22 | - rear_right_foot 23 | - rear_right_toe -------------------------------------------------------------------------------- /configs/spotmicro_config/config/links/links.yaml: -------------------------------------------------------------------------------- 1 | base: base_link 2 | left_front: 3 | - front_left_shoulder_link 4 | - front_left_leg_link 5 | - front_left_foot_link 6 | - front_left_toe_link 7 | 8 | right_front: 9 | - front_right_shoulder_link 10 | - front_right_leg_link 11 | - front_right_foot_link 12 | - front_right_toe_link 13 | 14 | left_hind: 15 | - rear_left_shoulder_link 16 | - rear_left_leg_link 17 | - rear_left_foot_link 18 | - rear_left_toe_link 19 | 20 | right_hind: 21 | - rear_right_shoulder_link 22 | - rear_right_leg_link 23 | - rear_right_foot_link 24 | - rear_right_toe_link -------------------------------------------------------------------------------- /configs/spotmicro_config/config/move_base/base_local_planner_holonomic_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | #http://wiki.ros.org/dwa_local_planner 3 | 4 | min_vel_trans: 0.01 5 | max_vel_trans: 0.5 6 | 7 | min_vel_x: -0.025 8 | max_vel_x: 0.5 9 | 10 | min_vel_y: 0.0 11 | max_vel_y: 0.0 12 | 13 | max_vel_rot: 1.0 14 | min_vel_rot: -1.0 15 | 16 | acc_lim_trans: 1.7 17 | acc_lim_x: 1.7 18 | acc_lim_y: 0.0 19 | acc_lim_theta: 3 20 | 21 | trans_stopped_vel: 0.1 22 | theta_stopped_vel: 0.1 23 | 24 | xy_goal_tolerance: 0.25 25 | yaw_goal_tolerance: 0.34 26 | 27 | sim_time: 3.5 28 | sim_granularity: 0.1 29 | vx_samples: 20 30 | vy_samples: 0 31 | vth_samples: 40 32 | 33 | path_distance_bias: 34.0 34 | goal_distance_bias: 24.0 35 | occdist_scale: 0.05 36 | 37 | forward_point_distance: 0.2 38 | stop_time_buffer: 0.5 39 | scaling_speed: 0.25 40 | max_scaling_factor: 0.2 41 | 42 | oscillation_reset_dist: 0.05 43 | 44 | use_dwa: true 45 | 46 | prune_plan: false 47 | -------------------------------------------------------------------------------- /configs/spotmicro_config/config/move_base/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]] 4 | 5 | transform_tolerance: 0.5 6 | resolution: 0.05 7 | 8 | static_map_layer: 9 | map_topic: map 10 | subscribe_to_updates: true 11 | 12 | 2d_obstacles_layer: 13 | observation_sources: scan 14 | scan: {data_type: LaserScan, 15 | topic: scan, 16 | marking: true, 17 | clearing: true} 18 | 19 | 3d_obstacles_layer: 20 | observation_sources: depth 21 | depth: {data_type: PointCloud2, 22 | topic: camera/depth/points, 23 | min_obstacle_height: 0.1, 24 | marking: true, 25 | clearing: true} 26 | 27 | inflation_layer: 28 | inflation_radius: 2.0 -------------------------------------------------------------------------------- /configs/spotmicro_config/config/move_base/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | cost_scaling_factor: 10.0 8 | 9 | plugins: 10 | - {name: static_map_layer, type: "costmap_2d::StaticLayer"} 11 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 12 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 13 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 14 | -------------------------------------------------------------------------------- /configs/spotmicro_config/config/move_base/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 2.0 6 | 7 | static_map: false 8 | rolling_window: true 9 | width: 2.5 10 | height: 2.5 11 | cost_scaling_factor: 5 12 | 13 | plugins: 14 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 15 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 16 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 17 | -------------------------------------------------------------------------------- /configs/spotmicro_config/config/move_base/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | base_local_planner: dwa_local_planner/DWAPlannerROS 3 | 4 | shutdown_costmaps: false 5 | 6 | controller_frequency: 5.0 7 | controller_patience: 3.0 8 | 9 | planner_frequency: 0.5 10 | planner_patience: 5.0 11 | 12 | oscillation_timeout: 10.0 13 | oscillation_distance: 0.2 14 | 15 | conservative_reset_dist: 0.1 -------------------------------------------------------------------------------- /configs/spotmicro_config/config/ros_control/hardware.yaml: -------------------------------------------------------------------------------- 1 | "": 2 | hardware_interface: 3 | loop_hz: 200 # hz 4 | joints: 5 | - front_left_shoulder 6 | - front_left_leg 7 | - front_left_foot 8 | - front_right_shoulder 9 | - front_right_leg 10 | - front_right_foot 11 | - rear_left_shoulder 12 | - rear_left_leg 13 | - rear_left_foot 14 | - rear_right_shoulder 15 | - rear_right_leg 16 | - rear_right_foot 17 | 18 | -------------------------------------------------------------------------------- /configs/spotmicro_config/config/ros_control/ros_control.yaml: -------------------------------------------------------------------------------- 1 | "": 2 | joint_states_controller: 3 | type: joint_state_controller/JointStateController 4 | publish_rate: 50 5 | 6 | joint_group_position_controller: 7 | type: position_controllers/JointTrajectoryController 8 | joints: 9 | - front_left_shoulder 10 | - front_left_leg 11 | - front_left_foot 12 | - front_right_shoulder 13 | - front_right_leg 14 | - front_right_foot 15 | - rear_left_shoulder 16 | - rear_left_leg 17 | - rear_left_foot 18 | - rear_right_shoulder 19 | - rear_right_leg 20 | - rear_right_foot 21 | 22 | # Servomotors have inner control loops so PIDs are not needed 23 | -------------------------------------------------------------------------------- /configs/spotmicro_config/include/gait_config.h: -------------------------------------------------------------------------------- 1 | #ifndef GAIT_CONFIG_H 2 | #define GAIT_CONFIG_H 3 | 4 | #define KNEE_ORIENTATION ">>" 5 | #define PANTOGRAPH_LEG false 6 | #define ODOM_SCALER 1.0 7 | #define MAX_LINEAR_VELOCITY_X 0.5 8 | #define MAX_LINEAR_VELOCITY_Y 0.25 9 | #define MAX_ANGULAR_VELOCITY_Z 1.0 10 | #define COM_X_TRANSLATION 0.0 11 | #define SWING_HEIGHT 0.02 12 | #define STANCE_DEPTH 0.0 13 | #define STANCE_DURATION 0.25 14 | #define NOMINAL_HEIGHT 0.15 15 | 16 | #endif -------------------------------------------------------------------------------- /configs/spotmicro_config/include/quadruped_description.h: -------------------------------------------------------------------------------- 1 | #ifndef QUADRUPED_DESCRIPTION_H 2 | #define QUADRUPED_DESCRIPTION_H 3 | 4 | #include 5 | 6 | namespace champ 7 | { 8 | namespace URDF 9 | { 10 | void loadFromHeader(champ::QuadrupedBase &base) 11 | { 12 | base.lf.hip.setOrigin(0.093, 0.0395, 0.0, 0.0, 0.0, 0.0); 13 | base.lf.upper_leg.setOrigin(0.0, 0.055, -0.0, 0.0, 0.0, 0.0); 14 | base.lf.lower_leg.setOrigin(0.014, 0.0, -0.109, 0.0, 0.0, 0.0); 15 | base.lf.foot.setOrigin(0.0, 0.0, -0.13, 0, 0, 0); 16 | 17 | base.rf.hip.setOrigin(0.093, -0.0395, 0.0, 0.0, 0.0, 0.0); 18 | base.rf.upper_leg.setOrigin(0.0, -0.055, -0.0, 0.0, 0.0, 0.0); 19 | base.rf.lower_leg.setOrigin(0.014, 0.0, -0.109, 0.0, 0.0, 0.0); 20 | base.rf.foot.setOrigin(0.0, 0.0, -0.13, 0, 0, 0); 21 | 22 | base.lh.hip.setOrigin(-0.093, 0.0395, 0.0, 0.0, 0.0, 0.0); 23 | base.lh.upper_leg.setOrigin(0.0, 0.055, -0.0, 0.0, 0.0, 0.0); 24 | base.lh.lower_leg.setOrigin(0.014, 0.0, -0.109, 0.0, 0.0, 0.0); 25 | base.lh.foot.setOrigin(0.0, 0.0, -0.13, 0, 0, 0); 26 | 27 | base.rh.hip.setOrigin(-0.093, -0.0395, 0.0, 0.0, 0.0, 0.0); 28 | base.rh.upper_leg.setOrigin(0.0, -0.055, -0.0, 0.0, 0.0, 0.0); 29 | base.rh.lower_leg.setOrigin(0.014, 0.0, -0.109, 0.0, 0.0, 0.0); 30 | base.rh.foot.setOrigin(0.0, 0.0, -0.13, 0, 0, 0); 31 | } 32 | } 33 | } 34 | #endif -------------------------------------------------------------------------------- /configs/spotmicro_config/launch/navigate.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 29 | 30 | -------------------------------------------------------------------------------- /configs/spotmicro_config/launch/position_controllers.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /configs/spotmicro_config/launch/slam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 22 | 23 | -------------------------------------------------------------------------------- /configs/spotmicro_config/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/spotmicro_config/maps/map.pgm -------------------------------------------------------------------------------- /configs/spotmicro_config/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/spotmicro_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | spotmicro_config 4 | 0.1.0 5 | spotmicro Champ Config Package 6 | 7 | Juan Miguel Jimeno 8 | Juan Miguel Jimeno 9 | 10 | BSD 11 | 12 | catkin 13 | champ_base 14 | ros_controllers 15 | roslaunch 16 | rviz 17 | 18 | 19 | -------------------------------------------------------------------------------- /configs/spotmicro_config/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 4 | export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include 5 | 6 | bash -i -------------------------------------------------------------------------------- /configs/stanford_pupper_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(stanford_pupper_config) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() -------------------------------------------------------------------------------- /configs/stanford_pupper_config/config/gait/gait.yaml: -------------------------------------------------------------------------------- 1 | knee_orientation : ">>" 2 | pantograph_leg : false 3 | odom_scaler: 1.0 4 | max_linear_velocity_x : 0.25 5 | max_linear_velocity_y : 0.125 6 | max_angular_velocity_z : 1.0 7 | com_x_translation : 0.0 8 | swing_height : 0.01 9 | stance_depth : 0.0 10 | stance_duration : 0.25 11 | nominal_height : 0.15 -------------------------------------------------------------------------------- /configs/stanford_pupper_config/config/joints/joints.yaml: -------------------------------------------------------------------------------- 1 | left_front: 2 | - LF_HIP_JOINT 3 | - LF_THIGH_JOINT 4 | - LF_THIGH_FOOT_JOINT 5 | - LF_TOE_JOINT 6 | 7 | right_front: 8 | - RF_HIP_JOINT 9 | - RF_THIGH_JOINT 10 | - RF_THIGH_FOOT_JOINT 11 | - RF_TOE_JOINT 12 | 13 | left_hind: 14 | - LH_HIP_JOINT 15 | - LH_THIGH_JOINT 16 | - LH_THIGH_FOOT_JOINT 17 | - LH_TOE_JOINT 18 | 19 | right_hind: 20 | - RH_HIP_JOINT 21 | - RH_THIGH_JOINT 22 | - RH_THIGH_FOOT_JOINT 23 | - RH_TOE_JOINT -------------------------------------------------------------------------------- /configs/stanford_pupper_config/config/links/links.yaml: -------------------------------------------------------------------------------- 1 | base: base_link 2 | left_front: 3 | - LF_HIP 4 | - LF_THIGH 5 | - LF_THIGH_FOOT 6 | - LF_TOE 7 | 8 | right_front: 9 | - RF_HIP 10 | - RF_THIGH 11 | - RF_THIGH_FOOT 12 | - RF_TOE 13 | 14 | left_hind: 15 | - LH_HIP 16 | - LH_THIGH 17 | - LH_THIGH_FOOT 18 | - LH_TOE 19 | 20 | right_hind: 21 | - RH_HIP 22 | - RH_THIGH 23 | - RH_THIGH_FOOT 24 | - RH_TOE -------------------------------------------------------------------------------- /configs/stanford_pupper_config/config/move_base/base_local_planner_holonomic_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | #http://wiki.ros.org/dwa_local_planner 3 | 4 | min_vel_trans: 0.01 5 | max_vel_trans: 0.5 6 | 7 | min_vel_x: -0.025 8 | max_vel_x: 0.5 9 | 10 | min_vel_y: 0.0 11 | max_vel_y: 0.0 12 | 13 | max_vel_rot: 1.0 14 | min_vel_rot: -1.0 15 | 16 | acc_lim_trans: 1.7 17 | acc_lim_x: 1.7 18 | acc_lim_y: 0.0 19 | acc_lim_theta: 3 20 | 21 | trans_stopped_vel: 0.1 22 | theta_stopped_vel: 0.1 23 | 24 | xy_goal_tolerance: 0.25 25 | yaw_goal_tolerance: 0.34 26 | 27 | sim_time: 3.5 28 | sim_granularity: 0.1 29 | vx_samples: 20 30 | vy_samples: 0 31 | vth_samples: 40 32 | 33 | path_distance_bias: 34.0 34 | goal_distance_bias: 24.0 35 | occdist_scale: 0.05 36 | 37 | forward_point_distance: 0.2 38 | stop_time_buffer: 0.5 39 | scaling_speed: 0.25 40 | max_scaling_factor: 0.2 41 | 42 | oscillation_reset_dist: 0.05 43 | 44 | use_dwa: true 45 | 46 | prune_plan: false 47 | -------------------------------------------------------------------------------- /configs/stanford_pupper_config/config/move_base/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]] 4 | 5 | transform_tolerance: 0.5 6 | resolution: 0.05 7 | 8 | static_map_layer: 9 | map_topic: map 10 | subscribe_to_updates: true 11 | 12 | 2d_obstacles_layer: 13 | observation_sources: scan 14 | scan: {data_type: LaserScan, 15 | topic: scan, 16 | marking: true, 17 | clearing: true} 18 | 19 | 3d_obstacles_layer: 20 | observation_sources: depth 21 | depth: {data_type: PointCloud2, 22 | topic: camera/depth/points, 23 | min_obstacle_height: 0.1, 24 | marking: true, 25 | clearing: true} 26 | 27 | inflation_layer: 28 | inflation_radius: 2.0 -------------------------------------------------------------------------------- /configs/stanford_pupper_config/config/move_base/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | cost_scaling_factor: 10.0 8 | 9 | plugins: 10 | - {name: static_map_layer, type: "costmap_2d::StaticLayer"} 11 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 12 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 13 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 14 | -------------------------------------------------------------------------------- /configs/stanford_pupper_config/config/move_base/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 2.0 6 | 7 | static_map: false 8 | rolling_window: true 9 | width: 2.5 10 | height: 2.5 11 | cost_scaling_factor: 5 12 | 13 | plugins: 14 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 15 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 16 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 17 | -------------------------------------------------------------------------------- /configs/stanford_pupper_config/config/move_base/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | base_local_planner: dwa_local_planner/DWAPlannerROS 3 | 4 | shutdown_costmaps: false 5 | 6 | controller_frequency: 5.0 7 | controller_patience: 3.0 8 | 9 | planner_frequency: 0.5 10 | planner_patience: 5.0 11 | 12 | oscillation_timeout: 10.0 13 | oscillation_distance: 0.2 14 | 15 | conservative_reset_dist: 0.1 -------------------------------------------------------------------------------- /configs/stanford_pupper_config/include/gait_config.h: -------------------------------------------------------------------------------- 1 | #ifndef GAIT_CONFIG_H 2 | #define GAIT_CONFIG_H 3 | 4 | #define KNEE_ORIENTATION ">>" 5 | #define PANTOGRAPH_LEG false 6 | #define ODOM_SCALER 1.0 7 | #define MAX_LINEAR_VELOCITY_X 0.5 8 | #define MAX_LINEAR_VELOCITY_Y 0.25 9 | #define MAX_ANGULAR_VELOCITY_Z 1.0 10 | #define COM_X_TRANSLATION 0.0 11 | #define SWING_HEIGHT 0.01 12 | #define STANCE_DEPTH 0.0 13 | #define STANCE_DURATION 0.25 14 | #define NOMINAL_HEIGHT 0.15 15 | 16 | #endif -------------------------------------------------------------------------------- /configs/stanford_pupper_config/launch/slam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 22 | 23 | -------------------------------------------------------------------------------- /configs/stanford_pupper_config/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/stanford_pupper_config/maps/map.pgm -------------------------------------------------------------------------------- /configs/stanford_pupper_config/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/stanford_pupper_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | stanford_pupper_config 4 | 0.1.0 5 | stanford_pupper Champ Config Package 6 | 7 | Juan Miguel Jimeno 8 | Juan Miguel Jimeno 9 | 10 | BSD 11 | 12 | catkin 13 | roslaunch 14 | rviz 15 | champ_base 16 | 17 | -------------------------------------------------------------------------------- /configs/stanford_pupper_config/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 4 | export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include 5 | 6 | bash -i -------------------------------------------------------------------------------- /configs/stochlite_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(stochlite_config) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() -------------------------------------------------------------------------------- /configs/stochlite_config/config/gait/gait.yaml: -------------------------------------------------------------------------------- 1 | knee_orientation : "><" 2 | pantograph_leg : false 3 | odom_scaler: 1.0 4 | max_linear_velocity_x : 0.4 5 | max_linear_velocity_y : 0.25 6 | max_angular_velocity_z : 1.0 7 | com_x_translation : 0.0 8 | swing_height : 0.04 9 | stance_depth : 0.0 10 | stance_duration : 0.25 11 | nominal_height : 0.23 -------------------------------------------------------------------------------- /configs/stochlite_config/config/joints/joints.yaml: -------------------------------------------------------------------------------- 1 | left_front: 2 | - fl_abd_joint 3 | - fl_hip_joint 4 | - fl_knee_joint 5 | - fl_toe_joint 6 | 7 | right_front: 8 | - fr_abd_joint 9 | - fr_hip_joint 10 | - fr_knee_joint 11 | - fr_toe_joint 12 | 13 | left_hind: 14 | - bl_abd_joint 15 | - bl_hip_joint 16 | - bl_knee_joint 17 | - bl_toe_joint 18 | 19 | right_hind: 20 | - br_abd_joint 21 | - br_hip_joint 22 | - br_knee_joint 23 | - br_toe_joint -------------------------------------------------------------------------------- /configs/stochlite_config/config/links/links.yaml: -------------------------------------------------------------------------------- 1 | base: base_link 2 | left_front: 3 | - fl_abd_link 4 | - fl_thigh_link 5 | - fl_shank_link 6 | - fl_toe_link 7 | 8 | right_front: 9 | - fr_abd_link 10 | - fr_thigh_link 11 | - fr_shank_link 12 | - fr_toe_link 13 | 14 | left_hind: 15 | - bl_abd_link 16 | - bl_thigh_link 17 | - bl_shank_link 18 | - bl_toe_link 19 | 20 | right_hind: 21 | - br_abd_link 22 | - br_thigh_link 23 | - br_shank_link 24 | - br_toe_link -------------------------------------------------------------------------------- /configs/stochlite_config/config/move_base/base_local_planner_holonomic_params.yaml: -------------------------------------------------------------------------------- 1 | DWAPlannerROS: 2 | #http://wiki.ros.org/dwa_local_planner 3 | 4 | min_vel_trans: 0.01 5 | max_vel_trans: 0.5 6 | 7 | min_vel_x: -0.025 8 | max_vel_x: 0.5 9 | 10 | min_vel_y: 0.0 11 | max_vel_y: 0.0 12 | 13 | max_vel_rot: 1.0 14 | min_vel_rot: -1.0 15 | 16 | acc_lim_trans: 1.7 17 | acc_lim_x: 1.7 18 | acc_lim_y: 0.0 19 | acc_lim_theta: 3 20 | 21 | trans_stopped_vel: 0.1 22 | theta_stopped_vel: 0.1 23 | 24 | xy_goal_tolerance: 0.25 25 | yaw_goal_tolerance: 0.34 26 | 27 | sim_time: 3.5 28 | sim_granularity: 0.1 29 | vx_samples: 20 30 | vy_samples: 0 31 | vth_samples: 40 32 | 33 | path_distance_bias: 34.0 34 | goal_distance_bias: 24.0 35 | occdist_scale: 0.05 36 | 37 | forward_point_distance: 0.2 38 | stop_time_buffer: 0.5 39 | scaling_speed: 0.25 40 | max_scaling_factor: 0.2 41 | 42 | oscillation_reset_dist: 0.05 43 | 44 | use_dwa: true 45 | 46 | prune_plan: false 47 | -------------------------------------------------------------------------------- /configs/stochlite_config/config/move_base/costmap_common_params.yaml: -------------------------------------------------------------------------------- 1 | obstacle_range: 2.5 2 | raytrace_range: 3.0 3 | footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]] 4 | 5 | transform_tolerance: 0.5 6 | resolution: 0.05 7 | 8 | static_map_layer: 9 | map_topic: map 10 | subscribe_to_updates: true 11 | 12 | 2d_obstacles_layer: 13 | observation_sources: scan 14 | scan: {data_type: LaserScan, 15 | topic: scan, 16 | marking: true, 17 | clearing: true} 18 | 19 | 3d_obstacles_layer: 20 | observation_sources: depth 21 | depth: {data_type: PointCloud2, 22 | topic: camera/depth/points, 23 | min_obstacle_height: 0.1, 24 | marking: true, 25 | clearing: true} 26 | 27 | inflation_layer: 28 | inflation_radius: 2.0 -------------------------------------------------------------------------------- /configs/stochlite_config/config/move_base/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: map 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | cost_scaling_factor: 10.0 8 | 9 | plugins: 10 | - {name: static_map_layer, type: "costmap_2d::StaticLayer"} 11 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 12 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 13 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 14 | -------------------------------------------------------------------------------- /configs/stochlite_config/config/move_base/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 2.0 6 | 7 | static_map: false 8 | rolling_window: true 9 | width: 2.5 10 | height: 2.5 11 | cost_scaling_factor: 5 12 | 13 | plugins: 14 | - {name: inflation_layer, type: "costmap_2d::InflationLayer"} 15 | - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} 16 | - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"} 17 | -------------------------------------------------------------------------------- /configs/stochlite_config/config/move_base/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | base_global_planner: global_planner/GlobalPlanner 2 | base_local_planner: dwa_local_planner/DWAPlannerROS 3 | 4 | shutdown_costmaps: false 5 | 6 | controller_frequency: 5.0 7 | controller_patience: 3.0 8 | 9 | planner_frequency: 0.5 10 | planner_patience: 5.0 11 | 12 | oscillation_timeout: 10.0 13 | oscillation_distance: 0.2 14 | 15 | conservative_reset_dist: 0.1 -------------------------------------------------------------------------------- /configs/stochlite_config/include/gait_config.h: -------------------------------------------------------------------------------- 1 | #ifndef GAIT_CONFIG_H 2 | #define GAIT_CONFIG_H 3 | 4 | #define KNEE_ORIENTATION "><" 5 | #define PANTOGRAPH_LEG false 6 | #define ODOM_SCALER 1.0 7 | #define MAX_LINEAR_VELOCITY_X 0.4 8 | #define MAX_LINEAR_VELOCITY_Y 0.25 9 | #define MAX_ANGULAR_VELOCITY_Z 1.0 10 | #define COM_X_TRANSLATION 0.0 11 | #define SWING_HEIGHT 0.04 12 | #define STANCE_DEPTH 0.0 13 | #define STANCE_DURATION 0.25 14 | #define NOMINAL_HEIGHT 0.23 15 | 16 | #endif -------------------------------------------------------------------------------- /configs/stochlite_config/launch/slam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 22 | 23 | -------------------------------------------------------------------------------- /configs/stochlite_config/maps/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/83d59811d262d52c16fe8b6da8f269ae312e1c5f/configs/stochlite_config/maps/map.pgm -------------------------------------------------------------------------------- /configs/stochlite_config/maps/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | resolution: 0.050000 3 | origin: [-50.000000, -50.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /configs/stochlite_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | stochlite_config 4 | 0.1.0 5 | stochlite Champ Config Package 6 | 7 | Juan Miguel Jimeno 8 | Juan Miguel Jimeno 9 | 10 | BSD 11 | 12 | catkin 13 | roslaunch 14 | rviz 15 | champ_base 16 | 17 | -------------------------------------------------------------------------------- /configs/stochlite_config/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 4 | export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include 5 | 6 | bash -i -------------------------------------------------------------------------------- /install_descriptions: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | DESCRIPTIONS_PATH=$(dirname "$(realpath $0)")/descriptions 4 | 5 | mkdir -p $DESCRIPTIONS_PATH 6 | cd $DESCRIPTIONS_PATH 7 | 8 | git clone https://github.com/chvmp/mini-cheetah-gazebo-urdf 9 | git clone https://github.com/chvmp/spotmicro_description 10 | git clone https://github.com/chvmp/littledog_description 11 | git clone https://github.com/chvmp/anymal_b_simple_description 12 | git clone https://github.com/chvmp/anymal_c_simple_description 13 | git clone https://github.com/chvmp/dkitty_description 14 | git clone https://github.com/chvmp/opendog_description 15 | git clone -b gazebo https://github.com/chvmp/spot_ros 16 | git clone https://github.com/moribots/spot_mini_mini 17 | git clone https://github.com/chvmp/unitree_ros 18 | git clone https://github.com/aditya-shirwatkar/stochlite_description 19 | git clone https://github.com/nisshan-x/mini_pupper_description 20 | git clone https://github.com/chandyalex/stanford_pupper_description.git -------------------------------------------------------------------------------- /update_robots: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROBOTS_PATH=$(dirname "$(realpath $0)")/configs 4 | 5 | for path in $ROBOTS_PATH/*; do 6 | #skip if invalid directory 7 | [ -d "${path}" ] || continue 8 | config_name=$(basename "${path}") 9 | printf "$config_name : " 10 | config_path=$ROBOTS_PATH/$config_name 11 | rosrun champ_setup_assistant package_creator.py $config_path 12 | done --------------------------------------------------------------------------------