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太极、跳舞分支​

  • 没有合并到主分支之前为fandes/dev/add-taiji-demo

    git checkout fandes/dev/add-taiji-demo

环境配置和确认​

  • kuavo-ros-control能够正常运行

  • 额外依赖

    • 升级pandas版本(重要)
    sudo su
    pip install pandas==2.0.3

    ⚠️ 遥控器启动必须在root下执行pip install pandas==2.0.3，不能只安装在lab用户目录下，也可以都装一次！

    • 安装 robot_localization 包相关依赖
    sudo apt-get install libgeographic-dev ros-noetic-geographic* -y

  • 确认手臂config增益

    • 执行 cat ~/.config/lejuconfig/config.yaml打印手臂电机配置，确认parameter项和下列一致
      parameter:
          # 关节参数[vel, kp_pos, kd_pos, tor, kp_vel, kd_vel, ki_vel]
          Left_joint_arm_1: [0, 25, 8, 0, 0, 0, 0]
          Left_joint_arm_2: [0, 20, 6, 0, 0, 0, 0]
          Left_joint_arm_3: [0, 20, 6, 0, 0, 0, 0] 
          Left_joint_arm_4: [0, 10, 3, 0, 0, 0, 0]
          Left_joint_arm_5: [0, 10, 3, 0, 0, 0, 0]
          Left_joint_arm_6: [0, 10, 3, 0, 0, 0, 0]
          Right_joint_arm_1: [0, 25, 8, 0, 0, 0, 0]
          Right_joint_arm_2: [0, 20, 6, 0, 0, 0, 0]
          Right_joint_arm_3: [0, 20, 6, 0, 0, 0, 0] 
          Right_joint_arm_4: [0, 10, 3, 0, 0, 0, 0]
          Right_joint_arm_5: [0, 10, 3, 0, 0, 0, 0]
          Right_joint_arm_6: [0, 10, 3, 0, 0, 0, 0]
          Head_joint_low: [0, 4, 3, 0, 0, 0, 0]
          Head_joint_high: [0, 10, 6, 0, 0, 0, 0]

编译​

catkin build humanoid_controllers # 在仓库目录执行

使用案例​

通过命令行运行跳舞​

  1. 启动机器人程序，并站立
sudo su
source devel/setup.bash
roslaunch humanoid_controllers load_kuavo_real.launch
  1. 启动跳舞程序
    • 启动自动程序，会自动执行手势舞、太极、跳舞，各段动作时间配置在src/demo/full_body_demo/scripts/action_sequence.yaml中
    source devel/setup.bash
    python3 ./src/demo/full_body_demo/scripts/timed_action_executor.py
    • 单独启动各段动作,
    source devel/setup.bash
    # 太极
    python3 ./src/demo/csv2body_demo/step_player_csv_ocs2.py src/demo/csv2body_demo/actions/taiji_wuhan_step_part.csv
    # 手势舞
    python3 ./src/demo/full_body_demo/csv_trajectory_publisher.py ./src/demo/full_body_demo/motions/rbd_state_motions1.csv
    # 跳舞
    python3 ./src/demo/full_body_demo/csv_trajectory_publisher.py ./src/demo/full_body_demo/motions/rbd_states_0314_5deg_ik_8_full.csv

通过遥控器运行​

  • 配置遥控器自启动程序

     cd <kuavo-ros-control>/src/humanoid-control/h12pro_controller_node/scripts
     sudo su
     ./deploy_autostart.sh

    ⚠️ 注意: h12pro 遥控器的程序以及机器人程序，vr 程序都会使用部署时的 ROS_MASTER_URI 与 ROS_IP，请确保部署时的 ROS_MASTER_URI 与 ROS_IP 正确。

    执行后，会自动安装依赖，并启动 h12pro 遥控器程序。

  • 配置遥控器按键执行程序

    • 修改src/humanoid-control/h12pro_controller_node/config/customize_config.json
    • 将命令行启动跳舞的命令添加到想要的按键下，类型改为shell, 例如绑定按键为拨杆都摆到右侧+D键可以这样配置
      "customize_action_RR_D": {
        "type": "shell",
        "command": "python3 /home/lab/kuavo-ros-control/src/demo/full_body_demo/scripts/timed_action_executor.py > /home/lab/executor_output.txt 2>&1"
      },
    • 修改后保存，重新启动遥控器服务之后即可生效
      sudo systemctl restart ocs2_h12pro_monitor.service
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