Added params for robot description in launch file

[fan-ziqi]

No description provided.

[selvingarciag96]

Hello @fan-ziqi , thanks for contributing to the quad-sdk repo!
Could you add a description or motivation behind the parameters added in the files?
Thanks!

[fan-ziqi]

Hello @fan-ziqi , thanks for contributing to the quad-sdk repo! Could you add a description or motivation behind the parameters added in the files? Thanks!

Hello @selvingarciag96

Existing code issues: Unable to expand to other robots without modifying the launch file. If the spirit_description and a1_description in the launch file are represented by parameters like <arg name="robot_path" value="$(arg dollar)(find $(arg robot_type)_description)"/>, it can be easily expanded to other robots.

The following two files need to be modified:

1. quad_utils/launch/load_global_params.launch
2. quad_utils/launch/load_robot_params.launch

If users want to expand their own robots according to the above modifications, they need to follow:

1. The robot is named robot_type.
2. The robot description package is named (robot_type)_description.
3. The path of the sdf file is (robot_type)_description/sdf_mesh/(robot_type).sdf.
4. The path of the urdf file is (robot_type)_description/urdf/(robot_type).urdf.
5. The yaml file is named quad_utils/config/(robot_type).yaml.

[selvingarciag96]

@fan-ziqi thanks for the comments!
Have you tried this with a different robot/platform other than spirit or a1 for the command:

This is just to see that it does in fact works with a different platform on a real experiment.

Thanks!

[fan-ziqi]

@selvingarciag96 You're welcome!

Yes, my original intention in modifying this code was to port it to other platforms. I added the cyberdog_description (CyberDog is a quadruped robot developed by Xiaomi.), and tested importing the robot model only in simulation environment, which was successful.

I haven't had time to debug the quad_utils/config/(robot_type).yaml file, so other functions haven't been tested yet. However, I believe that this approach will not affect the existing functionality. This approach is also used in Unitree's open source code such as https://github.com/unitreerobotics/unitree_guide/blob/bf82a8dc3dd5b626ab741b94421ec95b926cfe69/unitree_guide/launch/gazeboSim.launch#L4

[fan-ziqi]

@selvingarciag96 By the way, can you review PR #366? It's been a long time since anyone replied.

[ologandavid]

Hi @fan-ziqi,
Just checking in on this, whats the status of this pull request as of late?

Thanks,
David Ologan

[fan-ziqi]

Hi @fan-ziqi, Just checking in on this, whats the status of this pull request as of late?

Thanks, David Ologan

Hi @ologandavid, my code has been tested and is working well

[ologandavid]

Ok, sounds good, I'll go ahead and review this and add the instructions to the wiki. Thanks!

Best,
David Ologan