megayeye / wolf_descriptions

WoLF: Whole-body Locomotion Framework for quadruped robots

WoLF: Whole-body Locomotion Framework for quadruped robots

This repo contains the robot and sensor descriptions used with WoLF.

Setup

See the documentation here.

How to add a new robot

To add a new robot you can start by copying the structure of an existing one. The robot descriptions are defined as ROS packages, so you will need to add it to your ROS workspace. The required files in the package are the following:

• params/robot_name_params.yaml it contains the controller parameters, use this file to tune a robot.
• robots/robot_name.urdf.xacro it is the robot URDF description describing the kinematics and dynamics of the robot.
• robots/robot_name.srdf.xacro it is the robot SRDF description, use this file to define the kinematic chains and default postures.

You can add plotjuggler and rviz visualization files in the respective folders plotjuggler and rviz. The folder urdfs can be used to store extra xacro files useful for the robot description. And last but not least, don't forget the robot's meshes in the meshes folder, unless your robot is a stealth one :)

To launch the new robot with the WoLF controller:

roslaunch wb_controller wb_controller_bringup.launch robot_name:=new_robot