phantomx_gazebo

ROS package providing Gazebo simulation of the Phantom X Hexapod robot. Also provides a Python interface to the joints and some walk capabilities.

These have been tested in simulation and need some work to be used on the real robot, do not use as-is.

Install

Clone in your catkin workspace and catkin_make it. Make sure you also have the following packages in your workspace

• phantomx_description: https://github.com/HumaRobotics/phantomx_description
• phantomx_control: https://github.com/HumaRobotics/phantomx_control

Usage

You can launch the simulation with:

roslaunch phantomx_gazebo phantomx_gazebo.launch

PRESS PLAY IN GAZEBO ONLY WHEN EVERYTHING IS LOADED (wait for controllers)

You can run a walk demo with:

rosrun phantomx_gazebo walker_demo.py

ROS API

All topics are provided in the /phantomx namespace.

Sensors:

/phantomx/joint_states

Actuators (radians for position control, arbitrary normalized speed for cmd_vel):

/phantomx/cmd_vel
/phantomx/j_c1_lf_position_controller/command
/phantomx/j_c1_lm_position_controller/command
/phantomx/j_c1_lr_position_controller/command
/phantomx/j_c1_rf_position_controller/command
/phantomx/j_c1_rm_position_controller/command
/phantomx/j_c1_rr_position_controller/command
/phantomx/j_thigh_lf_position_controller/command
/phantomx/j_thigh_lm_position_controller/command
/phantomx/j_thigh_lr_position_controller/command
/phantomx/j_thigh_rf_position_controller/command
/phantomx/j_thigh_rm_position_controller/command
/phantomx/j_thigh_rr_position_controller/command
/phantomx/j_tibia_lf_position_controller/command
/phantomx/j_tibia_lm_position_controller/command
/phantomx/j_tibia_lr_position_controller/command
/phantomx/j_tibia_rf_position_controller/command
/phantomx/j_tibia_rm_position_controller/command
/phantomx/j_tibia_rr_position_controller/command

Python API

Basic usage:

import rospy
from phantomx_gazebo.phantomx import PhantomX

rospy.init_node("walker_demo")

phantomx=PhantomX()
rospy.sleep(1)

phantomx.set_walk_velocity(1,0,0) # Set full speed ahead for 5 secs
rospy.sleep(5)
phantomx.set_walk_velocity(0,0,0) # Stop

Dependencies

The following ROS packages have to be installed:

• gazebo_ros_control

License

This software is provided by Génération Robots http://www.generationrobots.com and HumaRobotics http://www.humarobotics.com under the Simplified BSD license