Notspot robot simulation - Python version
This repository contains all the files and code needed to simulate the notspot quadrupedal robot using Gazebo and ROS. The software runs on ROS noetic and Ubuntu 20.04. If you want to use a different ROS version, you might have to do some changes to the source code.
cd src && catkin_init_workspace cd .. && catkin_make source devel/setup.bash roscd notspot_controller/scripts && chmod +x robot_controller_gazebo.py cp -r RoboticsUtilities ~/.local/lib/python3.8/site-packages roscd notspot_joystick/scripts && chmod +x ramped_joystick.py
source devel/setup.bash roslaunch notspot run_robot_gazebo.launch
After all the nodes have started, you can start using your joystick to control the robot.
There's four different controllers, which make it easy to control the robot. These 4 controllers are:
Rest controller, Stand Controller, Trot gait controller and Crawl gait controller. They were all developed in
Trot Gait Controller
Crawl Gait Controller
This is my first open-source project, so I'm not that experienced with github just yet.
I'll be adding new stuff to this repository over time, so this is not the final version.
I'd like to make all the 3D models open-source, so that anybody can build this robot at home.