# ROS-Quadruped-Robot
ROS开发学习，四足机器人
启动Rviz:
>
> `$ roslaunch zwmvp_description rviz.launch`
>
启动Gazebo:
>
> `$ roslaunch zwmvp_gazebo gazebo.launch`
>
启动键盘控制器:
>
> `$ rosrun zwmvp_control teleop_control.py`
>
启动摄像头视角窗口:
>
> `$ rqt_image_view`
>(记得在摄像头界面窗口的左上角进行绑定，才能正常显示)
---
### 额外
将xacro转成urdf格式:
>
> `$ cd yourpath/zwmvp_description/urdf`
> `$ rosrun xacro xacro.py zwmvp.xacro > zwmvp.urdf`
>
检查urdf文件格式:
>
> `$ cd yourpath/zwmvp_description/urdf`
> `$ check_urdf zwmvp.urdf`
>
生成节点图:
>
> `$ urdf_to_graphiz zwmvp.urdf`
>
---
### ATTENTION
> `zwmvp_gazebo/worlds/zwmvp_world.world` 下有两个绝对路径，需要手动更改！
> 此处务必使用绝对路径，不然launch只能找到world文件，却找不到world中的dae文件！！！(从launch文件出发)
ROS学习开发，四足机器人.zip （38个子文件） 
content zwmvp_control 
CMakeLists.txt 1KB
manifest.xml 324B Makefile 41B src teleop_control.py 1KB kinematics_algorithm.py 3KB kinematics_algorithm.pyc 4KB pos_pub.py 3KB launch zwmvp_control.launch 958B mainpage.dox 118B config zwmvp_control.yaml 2KB zwmvp_gazebo CMakeLists.txt 1KB worlds zwmvp_world.world 998B manifest.xml 321B Makefile 41B launch gazebo.launch 1KB mainpage.dox 117B zwmvp_description CMakeLists.txt 1KB manifest.xml 336B Makefile 41B urdf zwmvp_leg.xacro 4KB zwmvp_body.xacro 2KB zwmvp_foot.xacro 4KB zwmvp.xacro 869B zwmvp.gazebo 341B zwmvp_camera.xacro 3KB zwmvp_shoe.xacro 2KB zwmvp_transmission.xacro 4KB
zwmvp_urdf.tar.gz 20KB meshes zwmvp.dae 3.18MB background 
Plastic_Red.jpg 2KB Wax_01.jpg 10KB Chipboard.jpg 13KB Cardboard.jpg 18KB Wax_02.jpg 3KB launch rviz.launch 722B mainpage.dox 122B config zwmvp.rviz 6KB README.md 1000B资源评论
