This repository contains all the code and files needed to simulate the notspot quadrupedal robot using Gazebo and ROS.

Last update: Sep 26, 2022

Overview

Notspot robot simulation - Python version

This repository contains all the files and code needed to simulate the notspot quadrupedal robot using Gazebo and ROS. The software runs on ROS noetic and Ubuntu 20.04. If you want to use a different ROS version, you might have to do some changes to the source code. The robot is capable of walking, I have a bunch of videos on my YouTube channel.

If you are interested in the C++ version, make sure to check this repository out.

Setup

cd src && catkin_init_workspace
cd .. && catkin_make
source devel/setup.bash
roscd notspot_controller/scripts && chmod +x robot_controller_gazebo.py
cp -r RoboticsUtilities ~/.local/lib/python3.8/site-packages
roscd notspot_joystick/scripts && chmod +x ramped_joystick.py

Run

source devel/setup.bash
roslaunch notspot run_robot_gazebo.launch

After all the nodes have started, you can start using your joystick to control the robot.

Controllers

There's four different controllers, which make it easy to control the robot. These 4 controllers are: Rest controller, Stand Controller, Trot gait controller and Crawl gait controller. They were all developed in Gazebo.

Rest Controller

Stand Controller

Trot Gait Controller

Crawl Gait Controller

Other notes

This is my first open-source project, so I'm not that experienced with github just yet.

I'll be adding new stuff to this repository over time, so this is not the final version. I'd like to make all the 3D models open-source, so that anybody can build this robot at home.

Credits

mike4192: https://github.com/mike4192/spotMicro

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Comments

Change body pose when hold position of foot

Hi, thanks for sharing your project, it helps me a lot. I'm in trouble with change body pose without change the position of foot in the gazebo (RestController in your project). I cannot get the idea. Please help me When I publish angle through rostopic, it changes the position of each leg, not the body. How can I get current position of each foot in gazebo and fix it? I'm beginner in this field!!! Thank you very much! P/s: My English is not good, hope you understand :)

opened by chienrb 1
repeat your project

Hello. I would like to repeat your project, but I am a beginner and did not find information on electronic stuffing in the repository. I already have an assembled robot with servo drives, an Orange Pi Zero LTS 512 MB H2 microcomputer, and an Adafruit 16 Channel Servo Driver board. You can tell where there are instructions for assembling electronics, configuring and installing software. Thank you!

opened by Gura73 0

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