Opendoge

URDF Description package for Opendoge quadruped robot.

Package Structure

Opendoge/
├── config/
│   └── joint_names_Opendoge.yaml    # Joint name configurations
├── launch/
│   ├── display.launch               # RViz visualization launch file
│   └── gazebo.launch               # Gazebo simulation launch file
├── meshes/
│   ├── base_link.STL               # Base link 3D model
│   ├── FL_*.STL, FR_*.STL         # Front legs 3D models
│   ├── RL_*.STL, RR_*.STL         # Rear legs 3D models
├── urdf/
│   ├── Opendoge.urdf               # Robot URDF description
│   └── Opendoge.csv                # Component CSV file
├── xml/
│   ├── Opendoge.xml                # OpenDoge XML configuration
│   └── scene.xml                   # Scene configuration
├── CMakeLists.txt
└── package.xml

Robot Structure

Opendoge is a 4-legged robot with 3 actuated joints per leg:

Leg	Hip	Thigh	Calf	Foot
FL (Front Left)	FL_hip_joint	FL_thigh_joint	FL_calf_joint	FL_foot
FR (Front Right)	FR_hip_joint	FR_thigh_joint	FR_calf_joint	FR_foot
RL (Rear Left)	RL_hip_joint	RL_thigh_joint	RL_calf_joint	RL_foot
RR (Rear Right)	RR_hip_joint	RR_thigh_joint	RR_calf_joint	RR_foot

Dependencies

• ROS (Robot Operating System)
• robot_state_publisher
• joint_state_publisher
• rviz
• gazebo
• catkin

Usage

Visualize in RViz

roslaunch Opendoge display.launch

Simulate in Gazebo

roslaunch Opendoge gazebo.launch

License

BSD