BRSRI/bellande_humanoid_robot_intelligence_control_system_architecture
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This commit is contained in:
Ronaldson Bellande
2023-09-28 09:50:41 -04:00
parent 65bc5c5fc3
commit f32621ac0f
40 changed files with 209 additions and 209 deletions
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6
humanoid_robot_bringup/launch/humanoid_robot_bringup_visualization.launch
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@@ -1,16 +1,16 @@
<?xml version="1.0"?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find humanoid_robot_description)/urdf/robotis_humanoid_robot.urdf.xacro'" />
<param name="robot_description" command="$(find xacro)/xacro.py '$(find humanoid_robot_description)/urdf/humanoid_robot.urdf.xacro'" />
<!-- Send fake joint values and monitoring present joint angle -->
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
<param name="use_gui" value="TRUE" />
<rosparam param="/source_list">[/robotis/present_joint_states]</rosparam>
<rosparam param="/source_list">[/humanoid_robot/present_joint_states]</rosparam>
</node>
<!-- Combine joint values -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
<remap from="/joint_states" to="/robotis/present_joint_states" />
<remap from="/joint_states" to="/humanoid_robot/present_joint_states" />
</node>
<!-- Show in Rviz -->

2
humanoid_robot_bringup/rviz/humanoid_robot_bringup.rviz
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@@ -287,7 +287,7 @@ Visualization Manager:
Enabled: true
History Length: 1
Name: Imu
Topic: /robotis/open_cr/imu
Topic: /humanoid_robot/open_cr/imu
Unreliable: false
Value: true
Enabled: true