DiLoMo 🤖 🛻

Description

The DiLoMo robot is a humanoid biped robot able to transform from a human to a truck form. This project relates the implementation of its control in Gazebo and RViz using the meta-operating system ROS (Noetic distribution). It is realised for the electromechanical engineering course Robotics 2 of the VUB.

Screenshots

• CAD of DiLoMo in Soliworks:

- RViz simulation:

- Gazebo simulation:

Deployment

RVIZ without control

In a terminal, write:

 cd ~/catkin_ws
source devel/setup.bash
roslaunch DiLoMo rviz_visualize.launch model:='$(find DiLoMo)/urdf/dilomo.urdf'

RVIZ and Gazebo with control

In a first terminal, write the following command to open Gazebo:

cd ~/catkin_ws
source devel/setup.bash
roslaunch simulation_gazebo main.launch

To spawn the DiLoMo robot, write in a second terminal:

cd ~/catkin_ws
source devel/setup.bash
roslaunch DiLoMo start_dilomo_with_controller.launch

In a third terminal, write the following command to open RViz:

cd ~/catkin_ws
source devel/setup.bash
roslaunch DiLoMo rviz_control.launch model:='$(find DiLoMo)/urdf/dilomo.urdf'

To control in RViz and Gazebo, the following commands must be put in a fourth terminal:

cd ~/catkin_ws
source devel/setup.bash
rosrun DiLoMo mingo_is_controlling.py

Finally, the robot must be re-spawn in Gazebo (as to get back on its feet). It can be done by either resetting the robot pose (CTRL+shift+R in Gazebo) or with the use of a service:

cd ~/catkin_ws
source devel/setup.bash
rosrun DiLoMo delete_dilomo.py
roslaunch DiLoMo start_dilomo_with_controller.launch

Prerequisites

• Python3
  
• ROS Noetic
  
• Gazebo
  
• RViz
  

Release date

27-12-2022

Members

👦 Mohammedjavad Rahimi Dolatabad
👦 Yiming Yuan
👧 Louise Massager
👦 Dinh-Hao Nguyen