moreinfoy / ihmc_atlas_ros Goto Github PK

#ihmc_atlas_ros

The ihmc_atlas_ros package allows for integrating the IHMC ROS API and the Boston Dynamics Atlas humanoid in simulation and on real robot hardware.

This package provides several launch scripts. By default, they all use the latest stable release of IHMC Open Robotics Software as provided on JCenter/Bintray.

This software can also be used with a local build of IHMC Open Robotics Software. For more information, see the IHMC ROS Java Adapter.

##Usage

ihmc_atlas_ros provides the following launch files:

• ihmc_atlas_scs_demo01.launch: Launch the ROS API node and the IHMC Simulation Construction Set simulated robot in a custom demo environment.
• ihmc_atlas_scs_finals.launch: Launch the ROS API node and the IHMC Simulation Construction Set simulated robot in an environment inspired by the DRC Finals.
• ihmc_atlas_robot.launch: Launch the ROS API node to work with the real robot
• ihmc_atlas_remote_visualizer.launch: Launch the SCS Remote Visualizer for performing analysis and diagnostics on the real robot.

You can set the following roslaunch args:

• use_local_build:=<true|false>: If set to true and if you have your environment configured, this will use a local build of the IHMC software

• ihmc_network_file:=<absolute path to network file>: Specific the network configuration .ini file for the IHMC software. See [the GitHub pages documentation](TODO fill this in) for more information

In addition, the Visualizer, Robot and SCS launches can take the following argument:

• ihmc_model:=<MODEL_NAME>: Specify an argument for the IHMC Controller letting it know which model to use internally. Currently valid model arguments:
  • ATLAS_UNPLUGGED_V5_NO_HANDS
  • ATLAS_UNPLUGGED_V5_DUAL_ROBOTIQ

Further, Robot and SCS launches can take the following argument:

• description_model:=<path to urdf file>: The .urdf used by ROS when publishing robot descriptions. Defaults to one of the models vendored in the ihmc_atlas_ros package, but can be overriden.

Lastly, the SCS launch can take an argument for starting position:

• starting_location:=<STARTING POSITION>: Specify landmarks in the test environment to spawn the robot near.

The starting position in the demo worlds can be defined. Currently the options are:

For the Demo01 custom world: DEFAULT, DRC_TRIALS_TRAINING_WALKING, DRC_TRIALS_QUALS, MID_LADDER, RAMP_BOTTOM, RAMP_TOP, NARROW_DOORWAY, BARRIERS, SMALL_PLATFORM, MEDIUM_PLATFORM, ON_MEDIUM_PLATFORM, EASY_STEPPING_STONES, STEPPING_STONES, STAIRS, ROCKS, LADDER, IN_FRONT_OF_ZIGZAG_BLOCKS, SINGLE_CYLINDERBLOCKS, TOP_OF_SLOPES, DEFAULT_BUT_ALMOST_PI, IN_FRONT_OF_CINDERBLOCK_FIELD, IN_FRONT_OF_TWO_HIGH_CINDERBLOCKS, IN_FRONT_OF_CYLINDER_BLOCKS, IN_FRONT_OF_SLANTED_CINDERBLOCK_FIELD, OFFSET_ONE_METER_X_AND_Y, OFFSET_ONE_METER_X_AND_Y_ROTATED_PI, SMALL_PLATFORM_TURNED, SMALL_WALL

For the Finals world: DEFAULT, DEBRIS_START, DEBRIS_END, DRILL, PLUG, WALKING_START, WALKING_END, STAIRS_START, STAIRS_END, SUPRISE