Setup Workspace
Install dependencies
sudo apt install ros-noetic-ros-control
sudo apt install ros-noetic-ros-controllers
Clone simulation package
cd ~
mkdir -p barelangfc/src
cd barelangfc/src
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework.git
git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs.git
git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Math.git
git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Utility.git
git clone https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins.git
git clone https://github.com/BarelangFC/BarelangFC-AdultSize-Simulation.git
cd ..
catkin_make
source devel/setup.bash
Running Simulation
roslaunch humanoid_manager humanoid_gazebo.launch
roslaunch humanoid_gazebo humanoid_gazebo.launch
Moving Joint Example command for moving head pan joint
rostopic pub /robotis/set_joint_states sensor_msgs/JointState "header:
seq: 0
stamp: {secs: 0, nsecs: 0}
frame_id: ''
name: ['head_pan']
position: [1]
velocity: [0]
effort: [0]"
Link Part Files
Link design location : Adult Size\Assy fix\Assy_Leg.SLDASM
https://drive.google.com/file/d/1JB6ATBQTLTad41ta_7nGuA0eSaegAw7J/view?usp=sharing