wcr_stack

Stack for Wall climbing robot with 4WIS4WID kinematic structure

Getting started on companion PC

mkdir -p wcr_pc/src
cd wcr/src
git clone https://github.com/BCaran/wcr_stack.git

On PC we only need urdf of the robot for visualization in rviz2

cd ..
colcon build --packages-select wcr_description
source install/setup.bash

For robot visualization and urdf check we use only robot_state_publisher, joint_state_publisher_gui and robot's urdf

ros2 launch wcr_description display_dummy.launch.py

IF THE ROBOT IS RUNNING we can use following .launch to display robot's states.

ros2 launch wcr_description display.launch.py

Getting started on wcr

mkdir -p wcr/src
cd wcr/src
git clone https://github.com/BCaran/wcr_stack.git -b humble
cd ..
rosdep install -i --from-path src --rosdistro humble -y
colcon build

IMPORTANT!
Before following commands, make sure that permissions have been added to the USB ports for Dynamixel, VESC and Teensy

System launch starts nodes for driving robot and odometry, IMU (BNO055 or olixSense™ IMU), RealSense T265 and PS4 joystick.

ros2 launch wcr_system system_floor.launch.py

Subsystem launch starts nodes for controlling electric duct fan for adhesion system and thruster motors control.

ros2 launch wcr_system subsystem_wall.launch.py