1. andy_somerville
  2. re2uta_atlas

Overview

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re2uta_atlas

This is a public release of the software used by the re2uta team in the DARPA VRC. Developed in the context of ros-fuerte. Compatability with any other ros release is unknown.

TO INSTALL:

This assumes you have DRC related packages already installed. If you don't then go here: http://gazebosim.org/wiki/DRC/Install

Otherwise:

./install.sh

Then setup the normal ros way with:

. setup.bash

TO BUILD:

rosmake re2uta_atlasCommander

TO DEMO:

DEMO BALANCING:

From 3 separate terminals, source the setup in each . setup.bash

  • Then in #1:

    roslaunch drcsim_gazebo atlas_sandia_hands.launch
    
  • Then in #2:

    roslaunch drcsim_gazebo keyboard_teleop.launch
    r
    q
    roslaunch re2uta_atlasCommander atlasCommander_nnCapture.launch
    

That will start an instance of rviz with interactive markers.

  • Once it's up and running in #3 command the robot to balance on it's right foot:

    rostopic pub /commander/walkto re2uta_atlasCommander/WalkPlan \
    "header:
      seq: 0
      stamp:
        secs: 0
        nsecs: 0
      frame_id: ''
    start_swing_foot: 0
    goal_poses:
    - position:
        x: 0.0
        y: 0.0
        z: 0.0
      orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0"
    

Now selecting "interact and dragging the robot's left foot around will allow you to move while balancing.