Controlling the quadruped using ROS2 commands.

[rafaelromaquela]

I'm trying to control the quadruped using only ROS2 commands. I can successfully read topics and retrieve information, but when I try to publish joint positions or center-of-mass velocities, the robot doesn't move.

Is this feature supported in the current simulation? Or is control limited to keyboard inputs and predefined command words?

Thank you for the support.

[giulioturrisi]

Hi, are you trying to use the ros2 wrapper here? https://github.com/iit-DLSLab/Quadruped-PyMPC/blob/main/ros2/run_controller.py

If so, did you set in

Quadruped-PyMPC/ros2/run_controller.py

Line 45 in b963164

USE_MUJOCO_SIMULATION = True

both USE_MUJOCO_RENDER = False
and USE_MUJOCO_SIMULATION = False?

[rafaelromaquela]

Hi. Yes,I’m trying to use this wrapper.
I’ve set both variables to False, but aren’t they only relevant when using the real robot?

[giulioturrisi]

Yes and no. If you let them to be True, I think the ros node will not spin

Quadruped-PyMPC/ros2/run_controller.py

Line 603 in b963164

if(USE_MUJOCO_SIMULATION):

[rafaelromaquela]

Thanks for the clarification!
I've already made the change, and now I'm trying to publish to the /dls2/trajectory_generator topic. Is that the correct one?

[giulioturrisi]

Depends on what you want to achieve. See here

Quadruped-PyMPC/ros2/run_controller.py

Line 63 in b963164

self.subscription_base_state = self.create_subscription(BaseStateMsg,"/dls2/base_state", self.get_base_state_callback, 1)

The trajectory_generator topic is published by the node itself, and is not needed. You need to publish to the node base_state and blind_state, and if you are using another simulator and not the one inside, you should subscribe from it the topic of the torques, quadruped_pympc_torques

[rafaelromaquela]

Now i get it. I will try to publish to these topics. Thanks for the help!!