An attempt to build a simulation environment in pybullet and run CHAMP's controller. For now, the simulation is bridged back to the ROS based controller to get the robot moving.

Ultimately, the goal is to build an RL based controller that's decoupled from ROS and can run independently without the middleware.

Installation

• Install miniconda:

  cd /tmp
  wget https://repo.continuum.io/miniconda/Miniconda3-latest-Linux-x86_64.sh
  bash Miniconda3-latest-Linux-x86_64.sh  
  export PATH="$HOME/miniconda3/bin:$PATH"
  

• Create conda environment and install dependencies:

  . $HOME/miniconda3/etc/profile.d/conda.sh
  
  yes | conda create --name bullet --channel conda-forge \
  ros-core \
  ros-actionlib \
  ros-dynamic-reconfigure \
  python=3.6 
  
  conda activate bullet
  
  yes | pip install pybullet --upgrade --user
  git clone https:github.com/chvmp/pybullet-experiment
  
  

• Download and install Champ

Quickstart

• Run CHAMP's controller:

  roslaunch champ_config bringup.launch has_imu:=false
  

• on another terminal:

  roslaunch champ_teleop teleop.launch
  

• Running the simulation:

  cd pybullet-experiment/scripts
  python sim.py