ROS2 Velocity Control of a Walker

Implementation of ROS2 control on a walker model. The walker has a IMU sensor.

In this repositort a walker model consists of five links and four revolute joints is controled using ROS2 control (veocity control)

Run Rviz Model

Run this command:

ros2 launch my_robot my_robot_rviz.launch.py

The model will show up in rviz like this:

Run the model in gazebo withou controller

Run this command:

ros2 launch my_robot my_robot_nocontrol.launch.py

you can see that the walker fall down:

Run the model in gazebo with velocity controller

ros2 launch my_robot my_robot_velocity.launch.py

The robot will show up in gazebo and maintain its balance