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  • stack-of-tasks/talos-data
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.git-blame-ignore-revs 0 → 100644
View file @ dc636c94
# format (Guilhem Saurel, 2022-12-29)
44929876e0874118281e26395fe899b5f9f4bd75
.gitlab-ci.yml
View file @ dc636c94
include: http://rainboard.laas.fr/project/talos_data/.gitlab-ci.yml include: https://rainboard.laas.fr/project/talos-data/.gitlab-ci.yml
.gitmodules
View file @ dc636c94
[submodule "cmake"] [submodule "cmake"]
path = cmake path = cmake
url = git://github.com/jrl-umi3218/jrl-cmakemodules.git url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
.pre-commit-config.yaml 0 → 100644
View file @ dc636c94
ci:
autoupdate_branch: 'devel'
repos:
- repo: https://github.com/pre-commit/mirrors-clang-format
rev: v15.0.6
hooks:
- id: clang-format
args: [--style=Google]
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.4.0
hooks:
- id: check-added-large-files
- id: check-ast
- id: check-executables-have-shebangs
- id: check-json
- id: check-merge-conflict
- id: check-symlinks
- id: check-toml
- id: check-yaml
- id: debug-statements
- id: destroyed-symlinks
- id: detect-private-key
- id: end-of-file-fixer
- id: fix-byte-order-marker
- id: mixed-line-ending
- id: trailing-whitespace
- repo: https://github.com/psf/black
rev: 22.12.0
hooks:
- id: black
- repo: https://github.com/PyCQA/flake8
rev: 6.0.0
hooks:
- id: flake8
- repo: https://github.com/cheshirekow/cmake-format-precommit
rev: v0.6.13
hooks:
- id: cmake-format
CMakeLists.txt
View file @ dc636c94
CMAKE_MINIMUM_REQUIRED(VERSION 2.8.3) cmake_minimum_required(VERSION 3.1)
SET(PROJECT_ORG pyrene-dev) # Project properties
SET(PROJECT_NAME talos_data) set(PROJECT_ORG stack-of-tasks)
SET(PROJECT_DESCRIPTION "Talos urdf model, srdf model and other data") set(PROJECT_NAME talos_data)
SET(PROJECT_URL "https://gepgitlab.laas.fr/${PROJECT_ORG}/${PROJECT_NAME}") set(PROJECT_DESCRIPTION "Talos urdf model, srdf model and other data")
set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
#include(cmake/ros.cmake)
INCLUDE(cmake/base.cmake) # Project configuration
set(PROJECT_USE_CMAKE_EXPORT TRUE)
set(CXX_DISABLE_WERROR True)
CMAKE_POLICY(SET CMP0048 OLD) # JRL-cmakemodule setup
PROJECT(${PROJECT_NAME} CXX) include(cmake/base.cmake)
find_package(catkin REQUIRED) # Project definition
compute_project_args(PROJECT_ARGS LANGUAGES CXX C)
catkin_package( project(${PROJECT_NAME} ${PROJECT_ARGS})
# INCLUDE_DIRS include
# LIBRARIES talos_description # Main Library
# CATKIN_DEPENDS other_catkin_pkg add_library(${PROJECT_NAME} INTERFACE)
# DEPENDS system_lib install(
) TARGETS ${PROJECT_NAME}
EXPORT ${TARGETS_EXPORT_NAME}
# Find xml_reflection DESTINATION lib)
ADD_REQUIRED_DEPENDENCY("urdfdom >= 0.2.9")
ADD_REQUIRED_DEPENDENCY("gazebo >= 7.0.0") foreach(
ADD_REQUIRED_DEPENDENCY(roscpp) dir
config
SET(LIBRARY_NAME ${PROJECT_NAME}) gazebo
meshes
ADD_LIBRARY(SpringPlugin robots
SHARED urdf
src/SpringPlugin.cc srdf
) launch)
install(DIRECTORY ${dir} DESTINATION share/${PROJECT_NAME})
INSTALL(TARGETS endforeach(dir)
SpringPlugin
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} install(FILES package.xml DESTINATION share/${PROJECT_NAME})
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} set(PACKAGE_EXTRA_MACROS "set(TALOS_DATA_PREFIX ${CMAKE_INSTALL_PREFIX})")
)
PKG_CONFIG_USE_DEPENDENCY(SpringPlugin roscpp)
PKG_CONFIG_USE_DEPENDENCY(SpringPlugin gazebo)
FOREACH(dir config gazebo meshes robots urdf srdf launch)
INSTALL(DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
ENDFOREACH(dir)
SETUP_PROJECT_FINALIZE()
NEWS 0 → 100644
View file @ dc636c94
-*- outline -*-
* Add model of pyrene with lidar. Generated using xacro files in pal_robotics
repository.
New in v2.0.0
README.md
View file @ dc636c94
Talos_data # Talos_data
==========
[![Pipeline status](https://gitlab.laas.fr/stack-of-tasks/talos_data/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/talos_data/commits/master)
[![Coverage report](https://gitlab.laas.fr/stack-of-tasks/talos_data/badges/master/coverage.svg?job=doc-coverage)](https://gepettoweb.laas.fr/doc/stack-of-tasks/talos_data/master/coverage/)
[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/stack-of-tasks/talos_data/master.svg)](https://results.pre-commit.ci/latest/github/stack-of-tasks/talos_data)
## Introduction ## Introduction
...@@ -15,6 +19,9 @@ Some dummy data were added (rotor inertia) to help the dynamic regularization. ...@@ -15,6 +19,9 @@ Some dummy data were added (rotor inertia) to help the dynamic regularization.
For initial and data validated by PAL-Robotics please see the http://github.com/pal-robotics/talos_robot For initial and data validated by PAL-Robotics please see the http://github.com/pal-robotics/talos_robot
repository. repository.
If you have problem in starting the robot in a specific position you should look at the
[python section](#python)
## Fixed joint ## Fixed joint
To start the robot in the air you can use: To start the robot in the air you can use:
``` ```
...@@ -95,9 +102,10 @@ Finally to have the state of the joint in the topic */joint_states* you need to ...@@ -95,9 +102,10 @@ Finally to have the state of the joint in the topic */joint_states* you need to
This is telling to ros_control that the passive joint has Position and Effort interfaces. This is telling to ros_control that the passive joint has Position and Effort interfaces.
## Python for launching nodes
In the directory scripts you can start a complete simulation by doing:
```
./start_talos_gazebo.py
```
In this specific case it will start the robot with a wide base.
cmake @ d3185885
Subproject commit b401621a9d8948554fce459d2bae8b5b85a872a1 Subproject commit d3185885a294ad2d1fd7c65f758675b7f376d3b5
config/joint_limits.yaml
View file @ dc636c94
...@@ -58,4 +58,3 @@ joint_limits: ...@@ -58,4 +58,3 @@ joint_limits:
max_velocity: *max_arm_vel max_velocity: *max_arm_vel
# Hands and legs keep the default values from URDF # Hands and legs keep the default values from URDF
config/pids_spring.yaml 0 → 100644
View file @ dc636c94
gains:
leg_left_1_joint: &leg_1_gains {p: 5000, d: 20, i: 5, i_clamp: 7, torque_clamp: 60}
leg_left_2_joint: &leg_2_gains {p: 5000, d: 20, i: 5, i_clamp: 14, torque_clamp: 160}
leg_left_3_joint: &leg_3_gains {p: 5000, d: 20, i: 5, i_clamp: 14, torque_clamp: 160}
leg_left_4_joint: &leg_4_gains {p: 5000, d: 20, i: 5, i_clamp: 25, torque_clamp: 300}
leg_left_5_joint: &leg_5_gains {p: 5000, d: 20, i: 5, i_clamp: 14, torque_clamp: 160}
leg_left_6_joint: &leg_6_gains {p: 5000, d: 20, i: 5, i_clamp: 9, torque_clamp: 100}
leg_right_1_joint: *leg_1_gains
leg_right_2_joint: *leg_2_gains
leg_right_3_joint: *leg_3_gains
leg_right_4_joint: *leg_4_gains
leg_right_5_joint: *leg_5_gains
leg_right_6_joint: *leg_6_gains
head_1_joint: {p: 300, d: 0.1, i: 1, i_clamp: 5, torque_clamp: 8}
head_2_joint: {p: 300, d: 0.1, i: 1, i_clamp: 1.5, torque_clamp: 8}
torso_1_joint: {p: 10000, d: 10, i: 1, i_clamp: 10, torque_clamp: 100}
torso_2_joint: {p: 10000, d: 10, i: 1, i_clamp: 10, torque_clamp: 100}
arm_right_1_joint: &arm_1_gains {p: 10000, d: 0, i: 0, i_clamp: 14, torque_clamp: 150}
arm_right_2_joint: &arm_2_gains {p: 10000, d: 0, i: 0, i_clamp: 14, torque_clamp: 150}
arm_right_3_joint: &arm_3_gains {p: 5000, d: 0, i: 0, i_clamp: 9, torque_clamp: 100}
arm_right_4_joint: &arm_4_gains {p: 10000, d: 0, i: 0, i_clamp: 9, torque_clamp: 100}
arm_right_5_joint: &arm_5_gains {p: 3000, d: 0, i: 0, i_clamp: 5, torque_clamp: 50}
arm_right_6_joint: &arm_6_gains {p: 3000, d: 0, i: 0, i_clamp: 3, torque_clamp: 30}
arm_right_7_joint: &arm_7_gains {p: 3000, d: 0, i: 0, i_clamp: 3, torque_clamp: 30}
arm_left_1_joint: *arm_1_gains
arm_left_2_joint: *arm_2_gains
arm_left_3_joint: *arm_3_gains
arm_left_4_joint: *arm_4_gains
arm_left_5_joint: *arm_5_gains
arm_left_6_joint: *arm_6_gains
arm_left_7_joint: *arm_7_gains
gripper_left_joint: {p: 1000, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
gripper_right_joint: {p: 1000, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
#https://answers.ros.org/question/283537/how-to-do-mimic-joints-that-work-in-gazebo/
gripperleft_inner_double_joint: &gripper_gains {p: 20, d: 0.0, i: 0.0, i_clamp: 0.2, antiwindup: false}
gripper_left_fingertip_1_joint: *gripper_gains
gripper_left_fingertip_2_joint: *gripper_gains
gripper_left_motor_single_joint: *gripper_gains
gripper_left_fingertip_3_joint: *gripper_gains
gripper_left_inner_single_joint: *gripper_gains
gripper_left_inner_double_joint: *gripper_gains
gripper_right_inner_double_joint: *gripper_gains
gripper_right_fingertip_1_joint: *gripper_gains
gripper_right_fingertip_2_joint: *gripper_gains
gripper_right_motor_single_joint: *gripper_gains
gripper_right_fingertip_3_joint: *gripper_gains
gripper_right_inner_single_joint: *gripper_gains
config/pids_stiff.yaml 0 → 100644
View file @ dc636c94
gains:
leg_left_1_joint: &leg_1_gains {p: 20000, d: 40, i: 5, i_clamp: 9000, torque_clamp: 6600}
leg_left_2_joint: &leg_2_gains {p: 20000, d: 40, i: 5, i_clamp: 9400, torque_clamp: 6600}
leg_left_3_joint: &leg_3_gains {p: 20000, d: 40, i: 5, i_clamp: 9400, torque_clamp: 6600}
leg_left_4_joint: &leg_4_gains {p: 20000, d: 40, i: 5, i_clamp: 9500, torque_clamp: 6000}
leg_left_5_joint: &leg_5_gains {p: 20000, d: 40, i: 5, i_clamp: 9400, torque_clamp: 6600}
leg_left_6_joint: &leg_6_gains {p: 20000, d: 40, i: 5, i_clamp: 9000, torque_clamp: 6000}
leg_right_1_joint: *leg_1_gains
leg_right_2_joint: *leg_2_gains
leg_right_3_joint: *leg_3_gains
leg_right_4_joint: *leg_4_gains
leg_right_5_joint: *leg_5_gains
leg_right_6_joint: *leg_6_gains
head_1_joint: {p: 300, d: 0.1, i: 1, i_clamp: 5, torque_clamp: 8}
head_2_joint: {p: 300, d: 0.1, i: 1, i_clamp: 1.5, torque_clamp: 8}
torso_1_joint: {p: 10000, d: 10, i: 1, i_clamp: 10, torque_clamp: 100}
torso_2_joint: {p: 10000, d: 10, i: 1, i_clamp: 10, torque_clamp: 100}
arm_right_1_joint: &arm_1_gains {p: 10000, d: 0, i: 0, i_clamp: 14, torque_clamp: 150}
arm_right_2_joint: &arm_2_gains {p: 10000, d: 0, i: 0, i_clamp: 14, torque_clamp: 150}
arm_right_3_joint: &arm_3_gains {p: 5000, d: 0, i: 0, i_clamp: 9, torque_clamp: 100}
arm_right_4_joint: &arm_4_gains {p: 10000, d: 0, i: 0, i_clamp: 9, torque_clamp: 100}
arm_right_5_joint: &arm_5_gains {p: 3000, d: 0, i: 0, i_clamp: 5, torque_clamp: 50}
arm_right_6_joint: &arm_6_gains {p: 3000, d: 0, i: 0, i_clamp: 3, torque_clamp: 30}
arm_right_7_joint: &arm_7_gains {p: 3000, d: 0, i: 0, i_clamp: 3, torque_clamp: 30}
arm_left_1_joint: *arm_1_gains
arm_left_2_joint: *arm_2_gains
arm_left_3_joint: *arm_3_gains
arm_left_4_joint: *arm_4_gains
arm_left_5_joint: *arm_5_gains
arm_left_6_joint: *arm_6_gains
arm_left_7_joint: *arm_7_gains
gripper_left_joint: {p: 1000, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
gripper_right_joint: {p: 1000, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
#https://answers.ros.org/question/283537/how-to-do-mimic-joints-that-work-in-gazebo/
gripperleft_inner_double_joint: &gripper_gains {p: 20, d: 0.0, i: 0.0, i_clamp: 0.2, antiwindup: false}
gripper_left_fingertip_1_joint: *gripper_gains
gripper_left_fingertip_2_joint: *gripper_gains
gripper_left_motor_single_joint: *gripper_gains
gripper_left_fingertip_3_joint: *gripper_gains
gripper_left_inner_single_joint: *gripper_gains
gripper_left_inner_double_joint: *gripper_gains
gripper_right_inner_double_joint: *gripper_gains
gripper_right_fingertip_1_joint: *gripper_gains
gripper_right_fingertip_2_joint: *gripper_gains
gripper_right_motor_single_joint: *gripper_gains
gripper_right_fingertip_3_joint: *gripper_gains
gripper_right_inner_single_joint: *gripper_gains
config/talos_plotjuggler.xml
View file @ dc636c94
...@@ -1326,4 +1326,3 @@ ...@@ -1326,4 +1326,3 @@
</Plugins> </Plugins>
<previouslyLoadedDatafile filename="/home/user/2018-09-23-18-06-22.bag"/> <previouslyLoadedDatafile filename="/home/user/2018-09-23-18-06-22.bag"/>
</root> </root>
gazebo/gazebo.urdf.xacro
View file @ dc636c94
...@@ -23,7 +23,7 @@ ...@@ -23,7 +23,7 @@
<topicName>wrench</topicName> <topicName>wrench</topicName>
</plugin> </plugin>
</gazebo> </gazebo>
<gazebo reference="imu_link"> <gazebo reference="imu_link">
<!-- this is expected to be reparented to pelvis with appropriate offset <!-- this is expected to be reparented to pelvis with appropriate offset
...@@ -52,7 +52,7 @@ ...@@ -52,7 +52,7 @@
the biases are fixed additive offsets. We choose the biases are fixed additive offsets. We choose
bias means and stddevs to produce biases close to the provided bias means and stddevs to produce biases close to the provided
data. --> data. -->
<!-- <!--
<rate> <rate>
<mean>0.0</mean> <mean>0.0</mean>
...@@ -67,8 +67,8 @@ ...@@ -67,8 +67,8 @@
<bias_stddev>0.001</bias_stddev> <bias_stddev>0.001</bias_stddev>
</accel> </accel>
--> -->
<rate> <rate>
<mean>0.0</mean> <mean>0.0</mean>
<stddev>0.0</stddev> <stddev>0.0</stddev>
...@@ -81,8 +81,8 @@ ...@@ -81,8 +81,8 @@
<bias_mean>0.0</bias_mean> <bias_mean>0.0</bias_mean>
<bias_stddev>0.000</bias_stddev> <bias_stddev>0.000</bias_stddev>
</accel> </accel>
</noise> </noise>
</imu> </imu>
</sensor> </sensor>
...@@ -92,4 +92,3 @@ ...@@ -92,4 +92,3 @@
<!-- <xacro:property name="M_PI" value="3.1415926535897931" /> --> <!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->
</robot> </robot>
launch/talos_bringup.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<!-- Load default controllers -->
<include file="$(find talos_controller_configuration)/launch/bringup_controllers.launch" />
<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="100.0" />
<param name="tf_prefix" type="string" value="" />
</node>
</launch>
launch/talos_gazebo_alone.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="start_half_sitting" default="true"/>
<arg name="world" default="empty"/> <!-- empty, small_office, ... (see ../worlds) -->
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.16 -R 0.0 -P 0.0 -Y 0.0" unless="$(arg start_half_sitting)"/>
<arg name="gui" default="true"/>
<arg name="debug" default="false"/>
<arg name="recording" default="false"/>
<arg name="extra_gazebo_args" default=""/>
<arg name="load_model" default="true"/> <!-- AS: should probably be false by default -->
<arg name="robot" default="full_v2"/> <!-- full, lower_body, foot -->
<arg name="foot_collision" default="thinbox"/>
<arg name="enable_leg_passive" default="false"/>
<arg name="enable_fixed_robot" default="false"/>
<arg name="default_configuration_type" default="zeros"/>
<env name="GAZEBO_MODEL_PATH" value="$(find talos_gazebo)/models:$(optenv GAZEBO_MODEL_PATH)"/>
<!-- start up world -->
<include file="$(find pal_gazebo_worlds)/launch/pal_gazebo.launch">
<arg name="world" value="$(arg world)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="recording" value="$(arg recording)"/>
<arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
</include>
<group if="$(arg load_model)">
<include file="$(find talos_data)/robots/upload.launch" >
<arg name="robot" value="$(arg robot)"/>
<arg name="foot_collision" default="$(arg foot_collision)"/>
<arg name="enable_leg_passive" default="$(arg enable_leg_passive)"/>
<arg name="enable_fixed_robot" default="$(arg enable_fixed_robot)"/>
<arg name="default_configuration_type" default="$(arg default_configuration_type)"/>
</include>
</group>
</launch>
launch/talos_gazebo_spawn_hs.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="left_leg_pose" default="-J leg_left_1_joint 0.0 -J leg_left_2_joint 0.0 -J leg_left_3_joint -0.411354 -J leg_left_4_joint 0.859395 -J leg_left_5_joint -0.448041 -J leg_left_6_joint -0.001708"/>
<arg name="right_leg_pose" default="-J leg_right_1_joint 0.0 -J leg_right_2_joint 0.0 -J leg_right_3_joint -0.411354 -J leg_right_4_joint 0.859395 -J leg_right_5_joint -0.448041 -J leg_right_6_joint -0.001708"/>
<arg name="left_arm_pose" default="-J arm_left_1_joint 0.25847 -J arm_left_2_joint 0.173046 -J arm_left_3_joint -0.0002 -J arm_left_4_joint -0.525366 -J arm_left_5_joint 0.0 -J arm_left_6_joint 0.0 -J arm_left_7_joint 0.1"/>
<arg name="right_arm_pose" default="-J arm_right_1_joint -0.25847 -J arm_right_2_joint -0.173046 -J arm_left_3_joint 0.0002 -J arm_right_4_joint -0.525366 -J arm_right_5_joint 0.0 -J arm_right_6_joint 0.0 -J arm_right_7_joint 0.1"/>
<arg name="torso_pose" default="-J torso_1_joint 0.0 -J torso_2_joint 0.006761"/>
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.02 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) " />
<arg name="robot" default="full_v2"/> <!-- full, lower_body, foot -->
<include file="$(find talos_data)/launch/talos_spawn.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="gzpose" value="$(arg gzpose)"/>
</include>
</launch>
launch/talos_gazebo_spawn_hs_wide.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="left_leg_pose" default="-J leg_left_1_joint -0.001 -J leg_left_2_joint 0.062 -J leg_left_3_joint -0.4096 -J leg_left_4_joint 0.8568 -J leg_left_5_joint -0.4472 -J leg_left_6_joint -0.0600"/>
<arg name="right_leg_pose" default="-J leg_right_1_joint 0.002 -J leg_right_2_joint -0.0603 -J leg_right_3_joint -0.4094 -J leg_right_4_joint 0.8563 -J leg_right_5_joint -0.4469 -J leg_right_6_joint 0.0560"/>
<arg name="left_arm_pose" default="-J arm_left_1_joint 0.25847 -J arm_left_2_joint 0.173046 -J arm_left_3_joint -0.0002 -J arm_left_4_joint -0.525366 -J arm_left_5_joint 0.0 -J arm_left_6_joint 0.0 -J arm_left_7_joint 0.1"/>
<arg name="right_arm_pose" default="-J arm_right_1_joint -0.25847 -J arm_right_2_joint -0.173046 -J arm_left_3_joint 0.0002 -J arm_right_4_joint -0.525366 -J arm_right_5_joint 0.0 -J arm_right_6_joint 0.0 -J arm_right_7_joint 0.1"/>
<arg name="torso_pose" default="-J torso_1_joint 0.0 -J torso_2_joint 0.006761"/>
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.02 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) -u" />
<arg name="robot" default="full_v2"/> <!-- full, lower_body, foot -->
<include file="$(find talos_gazebo)/launch/talos_spawn.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="gzpose" value="$(arg gzpose)"/>
</include>
</launch>
launch/talos_spawn.launch
View file @ dc636c94
...@@ -12,7 +12,7 @@ ...@@ -12,7 +12,7 @@
<!-- PID gains --> <!-- PID gains -->
<rosparam command="load" file="$(find talos_hardware_gazebo)/config/pids.yaml"/> <rosparam command="load" file="$(find talos_data)/config/pids_stiff.yaml"/>
<!-- Spawn robot in Gazebo --> <!-- Spawn robot in Gazebo -->
<node pkg="gazebo_ros" type="spawn_model" name="spawn_model" <node pkg="gazebo_ros" type="spawn_model" name="spawn_model"
......
launch/talos_spawn_stiff.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="robot" default="full_v2"/>
<arg name="gzpose" default="-x 0 -y 0 -z 1.0 -R 0.0 -P 0.0 -Y 0.0"/>
<!-- PAL Hardware gazebo config -->
<include file="$(find talos_controller_configuration)/launch/selective_rosparam_loader.launch">
<arg name="robot" value="$(arg robot)" />
<arg name="prefix" value="$(find talos_hardware_gazebo)/config/sensors/" />
</include>
<!-- PID gains -->
<rosparam command="load" file="$(find talos_data)/config/pids_stiff.yaml"/>
<!-- Spawn robot in Gazebo -->
<node pkg="gazebo_ros" type="spawn_model" name="spawn_model"
args="-urdf -param robot_description $(arg gzpose) -model talos" />
<node ns="/rgbd/rgb/high_res" pkg="image_proc" type="image_proc" name="image_proc_high_res"/>
<node ns="/rgbd/rgb" pkg="image_proc" type="image_proc" name="image_proc"/>
</launch>
meshes/head/head_2_lidar.stl 0 → 100644
View file @ dc636c94
File added