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How to use Syropod RQT Reconfigure Control

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Syropod rqt reconfigure control is an interface between user input via RQT Reconfigure Graphical User Interface (GUI) and the Syropod High-level Controller (SHC)

  • For using syropod rqt reconfigure control clone the package to the src folder in your workspace by,

      git clone https://github.com/csiro-robotics/syropod_rqt_reconfigure_control.git

  • Compile the workspace using catkin build.

  • Source the devel/setup.bash file from your workspace.

      source ~/openshc_ws/devel/setup.bash

  • Launch the syropod highlevel controller alongside with the rqt reconfigure interface by,

      roslaunch frankenX_syropod frankenX_highlevel.launch control:=rqt rviz:=true

  • Control the syropod in the rviz simulation environment (or in the Gazebo simulation environment with gazebo:=true argument in the above command) using the sliders and drop down menus.

  • To use syropod rqt reconfigure control with the real hexapod, launch both hardware.launch and highlevel.launch in two terminal windows as follows.

      roslaunch frankenX_syropod frankenX_hardware.launch
  roslaunch frankenX_syropod frankenX_highlevel.launch control:=rqt

rqt_reconfigure_control

Inputs

  • System State - Controls SHC system state. Select the system state to be Operational/Suspended from the drop down menu.

  • Robot State - Controls the current robot state. Select the robot state to be Packed/Ready/Running from the drop down menu.

  • Linear X - Adjust the linear velocity of the hexapod in X direction using the slider from -1 to 1.

  • Linear Y - Adjust the linear velocity of the hexapod in Y direction using the slider from -1 to 1.

  • Angular Z - Adjust the rotational velocity of the hexapod around Z axis using the slider from -1 to 1.

  • Stop - CLick on the tick box to stop the hexapod when moving. Click again to start moving the hexapod.

  • Gait Selection - Controls the gait designation of the hexapod. Select the gait from Wave/Amble/Ripple/Tripod gaits using the drop down menu.

  • Cruise Control Mode - Select the cruise control mode to be ON/OFF from the drop down menu.

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