Testing Quintic Walk with CLI Command

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Testing Quintic Walk with CLI Command#

It might be useful as testing the quintic walk in isolated manner, without another module. To do so, we can use CLI command to directly command the robot.

The CLI Commands#

Note: This can works on real and simulated robot. Use the altair_lab workspace.

  1. Launch the altair_manager

    • For simulated environment:

    ros2 launch altair_manager op3_simulation.launch.py

    • For real environment:

    ros2 launch altair_manager altair_manager.launch.py

  2. Set to quintic_walk module

ros2 service call /robotis/set_present_ctrl_modules robotis_controller_msgs/srv/SetModule "{module_name: 'quintic_walk_module'}"

  1. Set to init pose

ros2 topic pub /robot_state altair_msgs/msg/RobotControlState "{state: 8}"

  1. Start walk

 ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.05, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

Note: if you want to stop, set the angular.x to -1.0

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