🦖 Bipedal Robot Project

ROS2 project for the control of a bipedal robot.

Technologies

• : ROS2 Humble
• : micro-ROS
• : Gazebo
• : HTML

Languages

C++

How to Build

How to Run

Contains

• bipedal_robot_msgs:
  • msg:
    • FootPositions.msg: custom message for left and right foot position
    • RobotCommands.msg: custom message for joypad commands
  • CMakeList.txt: [TO COMPLETE]
  • package.xml: [TO COMPLETE]
• config:
  • robot_parameters.yaml: contains all the robot parameters, for fast edit
• include:
  • joystick_teleop_node.hpp: header file for joystick_teleop_node.cpp in src folder (in the same way the next .hpp files...)
  • state_machine_node.hpp
  • robot_ctrl_node.hpp
  • foot_trajectory_node.hpp
  • ik_node.hpp
  • robot_esp32_node.hpp
  • gazebo_node.hpp
• launch:
  • robot.launch.py: launch file that allows to automatize the startup and configuration of multiple ROS2 nodes simultaneously with a unique command
• src:
  • joystick_teleop_node.cpp:
  • state_machine_node.cpp:
  • robot_ctrl_node.cpp:
  • foot_trajectory_node.cpp:
  • ik_node.cpp:
  • robot_esp32_node.cpp:
  • gazebo_node.cpp: