Constructing ROS Package for Legged Robot in Gazebo Simulation from Scratch

摘要

Robot Operating System, (ROS) is one of the open-source, meta-operating system, which is now widely used as the robotic software platform and can be applicable for anyone who wanted to build their robot from scratch. For the credit of the beneficial of ROS, the work of this paper describes all the process and structure of the package construction for the legged robot simulation in Gazebo. There are five mains folders consisted in the package, which are configuration file (config), launch file (launch), meshes folder (meshes), script folder (script), Universal robot definition format folder (urdf), and worlds folder (worlds). In this research, Pseudo-inverse Jacobian was implemented to obtain the optimal angular joint for every step walking during the simulation. Result of the walking robot simulation are shown to have the least error range around 0.0365 m to 0.0867 m differ from the actual target position.