horizon_walk_docker

Run simulator

1. open mujoco and load talos:

   roslaunch talos_horizon talos_simulator.launch
   

2. load xbot config file:

   roscd talos_cartesio_config/mujoco/xbot2
   set_xbot2_config talos.yaml
   

3. start xbot2:

   xbot2-core
   

4. move the robot in the homig configuration and set the sim time as the default one:

   rosservice call /xbotcore/homing/switch "data: true"
   rosparam set /use_sim_time true
   

5. start the controller:

   roslaunch talos_horizon talos_controller xbot:=true
   

   NB: if you don't have a joystick plugged you can run the controller with the argument joy:=false and move the robot around using the ros services/topics:

   # set velocity reference
   rostopic pub /horizon/base_velocity/reference geometry_msgs/Twist "linear:
      x: 0.0
      y: 0.0
      z: 0.0
    angular:
      x: 0.0
      y: 0.0
      z: 0.0"
   
   # start/stop walking
   rosservice call /horizon/walk/switch "data: true/false"
   

Run on the robot

After initialized the robot and set up the ros communication with the ros master running on the robot, simply run the controller:

roslaunch talos_horizon talos_controller.launch talos:=true

Follow steps above if you do not have a joystick plugged