robot_tools

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
Released	UNRELEASED
Tags	robotics ros humanoid-robot humanoid ros2 humanoid-walking humanoid-control
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

ubu22

Authors

No additional authors.

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.

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

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

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

ROS Distro
github

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
Released	UNRELEASED
Tags	robotics ros humanoid-robot humanoid ros2 humanoid-walking humanoid-control
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

ubu22

Authors

No additional authors.

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.

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

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

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

ROS Distro
github

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
Released	UNRELEASED
Tags	robotics ros humanoid-robot humanoid ros2 humanoid-walking humanoid-control
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

ubu22

Authors

No additional authors.

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.

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

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

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

ROS Distro
github

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
Released	UNRELEASED
Tags	robotics ros humanoid-robot humanoid ros2 humanoid-walking humanoid-control
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

ubu22

Authors

No additional authors.

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.

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

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

ROS Distro
github

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
Released	UNRELEASED
Tags	robotics ros humanoid-robot humanoid ros2 humanoid-walking humanoid-control
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

ubu22

Authors

No additional authors.

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.

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

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

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

ROS Distro
github

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
Released	UNRELEASED
Tags	robotics ros humanoid-robot humanoid ros2 humanoid-walking humanoid-control
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

ubu22

Authors

No additional authors.

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.

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

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

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

ROS Distro
github

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
Released	UNRELEASED
Tags	robotics ros humanoid-robot humanoid ros2 humanoid-walking humanoid-control
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

ubu22

Authors

No additional authors.

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.

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

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

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

ROS Distro
github

API Docs
Browse Code
Wiki

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
Released	UNRELEASED
Tags	robotics ros humanoid-robot humanoid ros2 humanoid-walking humanoid-control
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

ubu22

Authors

No additional authors.

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.

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

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

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

ROS Distro
github

API Docs
Browse Code
Wiki

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
Released	UNRELEASED
Tags	robotics ros humanoid-robot humanoid ros2 humanoid-walking humanoid-control
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

ubu22

Authors

No additional authors.