coorde/yamax repository overview

⁠YamaX

A humanoid made for our research about the automation of walk. See: YamaX⁠

⁠Get started

docker-compose up -d

then connect to localhost:5900 using VNC

⁠Setup

. /opt/ros/lunar/setup.sh
. devel/setup.sh

⁠Launch a simurator and controllers

roslaunch yamax_gazebo world.launch # gui:=true headless:=false if you need gui

Now you can control joints by publishing to /yamax/{joint_name}_position_controller/command

⁠Example:

rostopic pub /yamax/neck_position_controller/command std_msgs/Float64 1.57

Will turn the head to 90°

⁠Launch controllers

roslaunch yamax_control yamax_control.launch

⁠Rviz

You need urdf_tutorial package if you don't have rviz config file(.rviz)

roslaunch yamax_description display.launch