tita_simulation

语言：English / 中文

Description

Tita simulation environments, including Webots and Gazebo.

Prerequisites

• Operating System: Ubuntu 22.04
• ROS 2: Humble
• Webots: R2023b
• Gazebo: classic

Dependencies

sudo apt install ros-humble-ros2-control
sudo apt install ros-humble-ros2-controllers

# build webots
sudo apt install ros-humble-webots-ros2
# build gazebo
sudo apt install ros-humble-gazebo-ros2-control
sudo apt install ros-humble-gazebo-ros

Build Package

mkdir tita_ws/src && cd tita_ws/src
git clone https://github.com/DDTRobot/TITA_Description.git
sudo mkdir -p /usr/share/robot_description
sudo cp -r TITA_Description/tita /usr/share/robot_description/tita
git clone https://github.com/DDTRobot/TITA_ROS2_Control_Sim.git
colcon build --packages-up-to sim_bringup 
source install/setup.bash
ros2 launch sim_bringup sim_bringup.launch.py sim_env:=gazebo #[option: webots, gazebo]

In the launch file, the default controller to start is effort_controllers/JointGroupEffortController. Create a new terminal and enter the following command to confirm if the controller is working properly.

ros2 topic pub /tita/effort_controller/commands std_msgs/msg/Float64MultiArray "{data: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]}"

If you want to write your own controller, you can modify it according to template_ros2_controller.