UTHAI-Humanoid

Static Walk of Humanoid Robot video

Fast Startup Simulation (Kinetic-devel)

0. install lib

   sudo apt install liborocos-kdl1.3 ros-kinetic-effort-controllers ros-kinetic-position-controllers ros-kinetic-controller-
   sudo pip install pyexcel_ods
   

1. create workspace.

   mkdir -p ~/uthai_ws/src
   

2. clone UTHAI-Common repository.

   cd ~/uthai_ws/src
   git clone https://github.com/sirawats/UTHAI-Humanoid.git
   

3. make.

   cd ~/uthai_ws/
   catkin_make
   

4. demo

   source ~/uthai_ws/devel/setup.bash
   roslaunch uthai_simulation uthai_demo.launch
   

Simulation

1. Click Start

   

2. • Use 2D Pose Estimate for initial start point
   • Use 2D Nav goal for destination point

   

3. Wait a while for path searching

   

4. Robot's going to start walking (slowly)

   

rqt_graph