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robot_tools package from ros2_walking_pattern_generator repo

convert_to_joint_states foot_step_planner kinematics robot_bringup robot_description robot_manager robot_messages robot_recorder robot_tools robot_visualizer walking_pattern_generator walking_stabilization_controller webots_robot_handler

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Package Summary

Tags No category tags.
Version 0.0.0
License Apache-2.0
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Description Walking Pattern Generator (= Walking Controller) using ROS2 for Humanoid Robots
Checkout URI https://github.com/open-rdc/ros2_walking_pattern_generator.git
VCS Type git
VCS Version issue_solution
Last Updated 2025-05-17
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags robotics ros humanoid-robot humanoid ros2 humanoid-walking humanoid-control
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

  • ubu22

Authors

No additional authors.
robot_tools/README.md

This README was created by translating the Japanese text using GitHub Copilot.

robot_tools

(Writing in progress)

model_parameter_generator.py

A Python script to extract parameters for using a new robot with this software.

Usage

1. Preparation

  • Place the directory and model files in the following structure under robot_description/models/:
models/
  |-- <Model's Dirctory>/
        |-- meshes/
              |-- <Model's Mesh Files>
        |-- urdf/
              |-- <Model's Urdf File(no xacro)>
  • Modify the code around lines 27 and 28 in robot_tools/robot_tools/model_parameter_generator.py as follows:
- robot_name = "rdc_robot_v1"
- urdf_name = "simple_model.urdf"
+ robot_name = "<Model's Dirctory>"
+ urdf_name = "<Model's Urdf File(no xacro)>.urdf"

2. Execution

Run the Python script by entering the following commands:

cd robot_tools/robot_tools/
python3 model_parameter_generator.py

During execution, you will be prompted to name each link. Follow the displayed instructions and provide input as needed.

Below is an example of the output (the parts marked with “>” are where you input values):

[INFO] List of tree in URDF file. (with fixed joints)
   tree 0 : ['CPG']
   tree 1 : ['luggage']
   tree 2 : ['r_waist_roll', 'r_waist_pitch', 'r_knee_pitch', 'r_ankle']
   tree 3 : ['l_waist_roll', 'l_waist_pitch', 'l_knee_pitch', 'l_ankle']

[INFO] Please input free joint_tree_name. 
[INFO] If nothing is inputted, joint_tree_name is 'names_group_<number>'.
[INFO] tree 0 name? > 
[INFO] tree 1 name? > 
[INFO] tree 2 name? > 
[INFO] tree 3 name? > 

name's number | joint_group_name | joint_group_value
--------------|------------------|------------------
      0       |  names_group_0   | ['CPG']
      1       |  names_group_1   | ['luggage']
      2       |  names_group_2   | ['r_waist_roll', 'r_waist_pitch', 'r_knee_pitch', 'r_ankle']
      3       |  names_group_3   | ['l_waist_roll', 'l_waist_pitch', 'l_knee_pitch', 'l_ankle']

[INFO] What's left_leg's name? (please input name's number) > 3
[INFO] What's right_leg's name? (please input name's number) > 2
[WARNING][CPG] Axis_tag is not defined.
[WARNING][luggage] Axis_tag is not defined.
[WARNING][r_ankle] Axis_tag is not defined.
[WARNING][l_ankle] Axis_tag is not defined.

Once the script is complete, a directory with the robot model’s name will be generated under robot_description/config/. Inside, three YAML files will be created, each containing parameters.

(Writing in progress)

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_copyright
ament_flake8
ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged robot_tools at Robotics Stack Exchange

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