This README was created by translating the Japanese text using Google Translate.

ROS2_Walking_Pattern_Generator

Walking Controller using ROS_2 for Humanoid Robots.

A walking control software for humanoid robots using ROS 2. We are proceeding with development with an emphasis on scalability, versatility, and simplicity, and we plan to be able to make humanoid robots walk without any advanced work.

Emvironment

It is compatible with the following OS:

• Ubuntu 22.04 (no WSL) (official)

Not tested on other OSes, but may work.

Dependencies

It depends on the following software:

• ROS 2 Humble (official)
• Eigen 3.4 (official)
• Webots R2023b (official)
• webots_ros2 (official)

The version of this dependency is determined based on your development environment, so it may work with other versions.

Install

Step1

Please install dependencies.

• Install ROS 2 -> official document
• Install Eigen -> Installed together with ROS 2.
• Install Webots -> official document
• Install webots_ros2 -> official document

Step2

Please clone this repository.

Example:

mkdir -p ~/ros2_ws/src/ && cd ~/ros2_ws/src/
git clone https://github.com/open-rdc/ROS2_Walking_Pattern_Generator.git

Step3

Please build packages.

Example:

cd ~/ros2_ws/
colcon build --symlink-install --packages-up-to robot_messages
source install/setup.bash
colcon build --symlink-install
source install/setup.bash

Usage

Run the program with the following command:

ros2 launch robot_bringup robot_bringup_launch.py

Example of operation by executing this command:

example_walking_motion_with_rviz2.mp4

Software Architecture

License & Author

The robot_description package contains parts of ROBOTIS-GIT/ROBOTIS-OP2-Common (license: Apache-2.0 license).
For details, see README.md in robot_description/models/robotis_op2.

This repository is licensed under Apache License 2.0.

Main developer & maintainer: Yusuke-Yamasaki-555 (GitHub, X (twitter), blog (jp))