How to Run Demo stickbot_humanoid_32dof_pinned (Joint Position)

This section describes how to control the joint positions of stickbot_humanoid_32dof_pinned.

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 URDF description files:

$ roscd stickbot_humanoid_32dof_pinned_controlit/models/
$ ./generate_stickbot_humanoid_32dof_pinned_controlit_urdfs.sh 

Launch Automatically Using a Single Command

To run the demo using a single command:

$ reset && roslaunch stickbot_humanoid_32dof_pinned_controlit simulate_jpos.launch 

Launch Manually Using Multiple Commands

Start roscore:

$ roscore 

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_pinned load_stickbot_humanoid_params_jpos.launch 

The command above will load the parameters and then exit.

Start the simulation:

$ roslaunch stickbot_humanoid_32dof_pinned gazebo.launch 

Gazebo will appear with a simple humanoid robor as shown below.

Start the controller:

$ roslaunch stickbot_humanoid_32dof_pinned 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:

Usage Notes

To change the goal pose:

$ rostopic pub /stickbot_humanoid_32dof_pinned_controller/JPosTask/goalPosition std_msgs/Float64MultiArray '{layout: {dim: [{label: "x", size: 32, stride: 32}], data_offset: 0}, data: [0.0, 0.8, 0.0, -1.5, 0.71, 0.0, 0.0, 0.8, 0.0, -1.5, 0.71, 0.0, 0.0, -0.12262265954333245, 0.779718529140968, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]}'