This repository provides the integration of the Cyberbot in ROS2. In contains a custom controller for ros2_controll controller, which balances the robot. Furthermore, the robot is simulated in Gazebo Harmonic.
In order to start the simulation, following commands needs to be executed:
colcon build
source install/local_setup.bash
ros2 launch cyberbot_gazebo gazebo.launch.py rviz:=trueThe robot description is stored in SDF-format, which is transformed into URDF by the robot_state_publisher.
More information about that in sdfformat_urdf.
The robot is designed in onshape and the tool onshape-to-robot is
used in order to automatically generate the robot.sdf file. The generated file needs to be extended by further XML blocks:
<ros2_control>is embeeded in the<model>node. It starts thecyberbot_controllerwhich provides the joint states.<sensor name="imu_sensor" type="imu">is embedded in the<link name="base">, which let Gazebo provides the IMU topic.
Each wheel of the robot are connected to the base of the robot by a 5 linkage bar. This results in a kinematic loop, which seems to be
not supported by Gazebo Harmonic and the SDF format. I solved it by keeping the joint next to the wheel unclosed. All positions of joints are
then calculated and provided by the cyberbot_controller. But in general, the onshape-to-robot provides support for
kinematic loops.
