teststand

---

A collection of ROS2 packages for the ODRI Leg Test Stand v2

ROS version	Branch
ROS2	ros2
ROS1	ros1

📝 Table of Contents

• About
• Getting Started
• Usage
• Feature requests
• Contributing
• Author
• Acknowledgments

🧐 About

This repository contains ROS2 packages for the Open Dynamic Robot Initiative Leg Test Stand v2. It is based on the robot_properties_teststand repository.

It is currently composed of the follwing packages:

• teststand_control: ros2_control algorithms for the Test Stand.

• teststand_description: XACRO/URDF, meshes and launch files for loading and debugging.

• teststand_gazebo: integration with Gazebo (modern/Ignition).

🏁 Getting Started

This repo is composed by a collection of ROS2 packages.

🛠 Prerequisites

• A ROS2 workspace (colcon)
  • See this tutorial to learn how to create your own workspace.

💻 Installing

As mentioned above, this repo contains multiple ROS2 packages. Thus, you simply have to clone it inside your workspace's src directory, making sure to use the ros2 branch.

cd <path_to_your_ros2_ws>/src
git clone -b ros2 https://github.com/leggedrobotics-usp/teststand.git

Then, use colcon to build.

cd <path_to_your_ros2_ws>
colcon build --symlink-install

🎈 Usage

Most packages have launch files encompassing most features. Check individual README files when available for more detailed information.

🔋 Feature requests

Want something more for the ODRI Leg Test Stand? Open an Enhancement issue describing it.

🤝 Contributing

• Fork the repo
  • https://github.com/leggedrobotics-usp/teststand/fork
• Check out a new branch based and name it to what you intend to do:

  • git checkout -b BRANCH_NAME

• Commit your changes
  • Please provide a git message that explains what you've done;
  • Commit to the forked repository.

    git commit -m "A short and relevant message"

• Push to the branch

  • git push origin BRANCH_NAME

• Make a pull request!

✍️ Author

_{Victor T. N. 🤖}

Made with ❤️ by @Vtn21

🎉 Acknowledgements

_{Open Dynamic Robot Initiative}

Designers of the Leg Test Stand v2