文件列表:

LICENSE (16725, 2021-06-28)
resources (0, 2021-06-28)
resources\a1 (24890, 2021-06-28)
src (0, 2021-06-28)
src\a1 (0, 2021-06-28)
src\a1\CMakeLists.txt (80, 2021-06-28)
src\a1\launch (0, 2021-06-28)
src\a1\launch\run_robot_gazebo.launch (329, 2021-06-28)
src\a1\package.xml (406, 2021-06-28)
src\a1_controller (0, 2021-06-28)
src\a1_controller\CMakeLists.txt (127, 2021-06-28)
src\a1_controller\launch (0, 2021-06-28)
src\a1_controller\launch\robot_controller.launch (165, 2021-06-28)
src\a1_controller\package.xml (428, 2021-06-28)
src\a1_controller\scripts (0, 2021-06-28)
src\a1_controller\scripts\InverseKinematics (0, 2021-06-28)
src\a1_controller\scripts\InverseKinematics\robot_IK.py (3170, 2021-06-28)
src\a1_controller\scripts\RobotController (0, 2021-06-28)
src\a1_controller\scripts\RobotController\CrawlGaitController.py (7250, 2021-06-28)
src\a1_controller\scripts\RobotController\GaitController.py (2161, 2021-06-28)
src\a1_controller\scripts\RobotController\PIDController.py (1791, 2021-06-28)
src\a1_controller\scripts\RobotController\RestController.py (2182, 2021-06-28)
src\a1_controller\scripts\RobotController\RobotController.py (4585, 2021-06-28)
src\a1_controller\scripts\RobotController\StandController.py (1056, 2021-06-28)
src\a1_controller\scripts\RobotController\StateCommand.py (961, 2021-06-28)
src\a1_controller\scripts\RobotController\TrotGaitController.py (7597, 2021-06-28)
src\a1_controller\scripts\RoboticsUtilities (0, 2021-06-28)
src\a1_controller\scripts\RoboticsUtilities\Transformations.py (2122, 2021-06-28)
src\a1_controller\scripts\robot_controller_gazebo.py (2177, 2021-06-28)
src\a1_description (0, 2021-06-28)
src\a1_description\CMakeLists.txt (92, 2021-06-28)
src\a1_description\launch (0, 2021-06-28)
src\a1_description\launch\a1_rviz.launch (859, 2021-06-28)
src\a1_description\launch\check_joint.rviz (10641, 2021-06-28)
src\a1_description\meshes (0, 2021-06-28)
src\a1_description\meshes\calf.dae (1759398, 2021-06-28)
src\a1_description\meshes\hip.dae (668998, 2021-06-28)
src\a1_description\meshes\thigh.dae (1151660, 2021-06-28)
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# a1 robot simulation - Python version This repository contains all the files and code needed to simulate the [a1](https://www.unitree.com/products/a1) quadrupedal robot using [Gazebo](http://gazebosim.org/) and [ROS](https://www.ros.org/). The software runs on [ROS noetic](http://wiki.ros.org/noetic) and [Ubuntu 20.04](http://www.releases.ubuntu.com/20.04/). If you want to use a different ROS version, you might have to do some changes to the source code. This software is a copy of my [main project](https://github.com/lnotspotl/notspot_sim_py), where some of the constants have been changed in order to make it work for this particular robot. # This is only a temporary repository, I might remove it soon. ## Setup ``` cd src && catkin_init_workspace cd .. && catkin_make source devel/setup.bash roscd a1_controller/scripts && chmod +x robot_controller_gazebo.py cp -r RoboticsUtilities ~/.local/lib/python3.8/site-packages roscd a1_joystick/scripts && chmod +x ramped_joystick.py ``` ## Run ``` source devel/setup.bash roslaunch a1 run_robot_gazebo.launch ``` After all the nodes have started, you can start using your joystick to control the robot. If the robot happens to be on its back when you start Gazebo, simply press CTRL + R. The simulator will reset the simulation and you're set to use the robot using your joystick. ## Credits - mike4192: https://github.com/mike4192/spotMicro - Unitree Robotics: https://github.com/unitreerobotics/a1_ros - QUADRUPED ROBOTICS: https://quadruped.de

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