Do you have any plans to port to ROS2 ?

[jediofgever]

Hi,
Thank you for your great work. I am currently in need of a running quadruped robot running ROS2, there seems like none on whole github,
I have ported majority of champ code to ROS2 in my fork. But the robot's behaviour does not make sense ; The robot does the leg swinging but it's in the place and does not move.

h-2022-05-18_00.50.11.mp4

I see that your code base look fairly organized and I would like to give it a try to port and run it on ROS2, have you had any plans ?

[jediofgever]

I did port the code to ROS2, it runs but there is almost the same issue as above, the robot barely moves, It looks like there isn't enough grip on the robot foot contact areas.

h-2022-05-18_18.35.46.mp4

The motions are good but still some issues getting it right with Gazebo. Btw, there is a virtual joystick package that I have added to send sensor_msgs::Joy to robot_controller. I really like this code base and I am hoping that we could work together towards improving this awesome project.

Code is in my branch: https://github.com/jediofgever/notspot_sim_cpp

[lnotspotl]

Hello,

I'm really glad you like this project. I have been working on some other stuff recently and did not think of porting this ROS package to ROS2 at the time.

Since ROS2 is now much more mature, I think it is a great idea to give it a try.

Regarding the slipping of the feet, it might be the case that Gazebo has changed and does not support the friction parameter definition that I used in the urdf file.

I'll try to look into that.

[jediofgever]

Hi,
Thank you for the comment.
Looking forward to hear from you after you try it, please do let me know if you have trouble running my branch, you can use ROS2 Foxy version to reproduce.

I have played with friction parameters of foot links with no luck.

[Robotherapy]

I'm trying to port this to ROS2 as well, I am fairly new to this, but I hope I do a good job, please help me along the way :)