cardiffuniversitycomputationalrobotics / a1_hl_control_config

A1 configuration for high-level control in simulation.

1. Quick Start

⚠️ ⚠️ The high level control (most of this package) is meant to be used with the simulated Unitree A1 Robot. For the real-world robot, the capabilities of this package are barely used. ⚠️ ⚠️

You don't need a physical robot to run the following demos.

1.1. Walking demo in RVIZ:

1.1.1. Run the base driver:

roslaunch a1_hl_control_config bringup.launch rviz:=true

1.1.2. Run the teleop node:

roslaunch champ_teleop teleop.launch

If you want to use a joystick add joy:=true as an argument.

1.2. SLAM demo:

1.2.1. Run the Gazebo environment:

roslaunch a1_hl_control_config gazebo.launch 

1.2.2. Run gmapping package and move_base:

roslaunch a1_hl_control_config slam.launch rviz:=true

To start mapping:

• Click '2D Nav Goal'.

• Click and drag at the position you want the robot to go.

  

• Save the map by running:

  roscd a1_hl_control_config/maps
  rosrun map_server map_saver
  

1.3. Autonomous Navigation:

1.3.1. Run the Gazebo environment:

roslaunch a1_hl_control_config gazebo.launch 

1.3.2. Run amcl and move_base:

roslaunch a1_hl_control_config navigate.launch rviz:=true

To navigate:

• Click '2D Nav Goal'.

• Click and drag at the position you want the robot to go.

  

1.4.1 Spawning multiple robots in Gazebo

Run Gazebo and default simulation world:

roslaunch champ_gazebo spawn_world.launch 

You can also load your own world file by passing your world's path to 'gazebo_world' argument:

roslaunch champ_gazebo spawn_world.launch gazebo_world:=<path_to_world_file>

Spawning a robot:

roslaunch a1_hl_control_config spawn_robot.launch robot_name:=<unique_robot_name> world_init_x:=<x_position> world_init_y:=<y_position>

• Every instance of the spawned robot must have a unique robot name to prevent the topics and transforms from clashing.

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❗ This is not an official product from the robot's company/author.