This section describes how to control the joint positions of stickbot_humanoid_32dof.
Generate the URDFs
Note: One only needs to generate the URDFs again if the xacros from which the URDFs are derived have changed. If this is your first time running the demo or you are unsure if the xacros have changed, do not skip this step.
Generate the robot's URDF:
$ roscd stickbot_humanoid_32dof_controlit/models/ $ ./generate_stickbot_humanoid_32dof_controlit_urdfs.sh
Launch Automatically Using a Single Command
To run the demo using a single command:
$ reset && roslaunch stickbot_humanoid_32dof_controlit simulate_jpos.launch
Launch Manually Using Multiple Commands
Start the shared memory manager:
$ rosrun shared_memory_interface shared_memory_manager
Open a new terminal and load the necessary parameters by executing one of the following commands
$ roslaunch stickbot_humanoid_32dof_controlit load_stickbot_humanoid_params_jpos.launch
The command above will load the parameters and then exit.
Start the simulation:
$ roslaunch stickbot_humanoid_32dof_controlit gazebo.launch
Gazebo will appear with a simple humanoid robor as shown below.
Start the controller:
$ roslaunch stickbot_humanoid_32dof_controlit start_rapid_controller.launch
The above command will start the RAPid controller and block. Hit play in Gazebo to start the demo. You should see the robot stabilize in the following pose:
To view the robot in RViz:
$ rosrun rviz rviz
Here is what you should see: