DRC-HUBO

Repository for DRC rubble clearing task.

Instructions to use drchubo package

1. DRC depends on DRC_msgs, so you first have to compile DRC_msgs and then drchubo
2. Currently we only support:
   • joint / pose / joint + pose animation
   • Modes no_gravity (for animation) and nominal (gravity)

To compile

1. Put DRC_msgs in a folder in $ROS_PACKAGE_PATH

2. Build DRC_msgs

   cd DRC_msgs mkdir build cd build && cmake .. make

3. Build drchubo. For this, there is one thing for you to do before doing make:

   • You have to create a link to the huboplus folder needed by Matt's code (which we use for our zmpnode executable for walking). Follow the instructions from apps/zmpnode/mattStuff/README.md to do so.
   • Now you cand do the cmake and make procedure
   • Finally, source the file setup.sh (located in drchubo) in the terminal you will use. This sets GAZEBO_PLUGIN_PATH and LD_LIBRARY_PATH to find our DRCPlugin

4. To run the rubble world example:

   • In one terminal type: roslaunch drchubo drchubo_rubble.launch
   • Press Play since we start on Pause Mode
   • Don't be surprised if the robot flies. I will change the node to start in an upper position later today
   • In another terminal type: rosrun drchubo zmpnode
   • Robot should do the same thing as the video

Example code

drchubo/apps/zmpnode

Topics to which drchubo is subscribed

1. Topic to set pose with respect to World (from torso): drchubo/set_pose with type: geometry_msgs::Pose>

2. Topic to set joint configuration: drchubo/configuration with type: sensor_msgs::JointState>

3. Topic to set mode drchubo/mode with type std_msgs::String ( so far, 2 modes: no_gravity and nominal )

4. Topic to set pose + joint animation: drchubo/poseJointAnimation with type: <DRC_msgs::PoseJointTrajectory> USE THIS FOR WALK ANIMATION.

5. Topic to set only joint animation drchubo/jointAnimation with type: trajectory_msgs::JointTrajectory

6. Topic to set only pose animation drchubo/poseAnimation with type: DRC_msgs::PoseStampedArray>