Walking engine of the HTWK Robots Robot Soccer Team participating in RoboCup SPL.
The walking engine is designed to be used with our LolaConnector. It also includes some auxiliary libraries for moving the arms and sitting down.
Integration of the walking engine in LolaConnector could look like this:
if (client_connected && !lola_shutdown && !lola_sit_forever) {
if (!sit_motion.isStanding()) {
joints.legs = sit_motion.getUp(sensor_frame.joints.legs, ankle_balancer, &arm_controller);
joints.arms = arm_controller.proceed();
walking_engine.reset();
// TODO: You probably want to have a few else if statements here for things that should override the walking, e.g. getting up.
} else {
joints.legs = walking_engine.proceed(sensor_frame.fsr, imu_filter.angles.pitch, imu_filter.angles.roll, ankle_balancer,
imu_filter.angles.yaw, &odo, &arm_controller);
joints.arms = arm_controller.proceed();
}
} else {
if (walking_engine.isStanding()) {
joints.legs = sit_motion.sitDown(sensor_frame.joints.legs, ankle_balancer, &arm_controller);
} else {
walking_engine.setRequest(0, 0, 0, 0, Shoot::NONE);
joints.legs = walking_engine.proceed(sensor_frame.fsr, imu_filter.angles.pitch, imu_filter.angles.roll, ankle_balancer,
imu_filter.gyr.yaw, &odo, &arm_controller);
}
joints.arms = arm_controller.proceed();
}To make the robot walk just call walking_engine.setRequest().
To build:
mkdir build
cd build
cmake .. -DCMAKE_TOOLCHAIN_FILE=../YOUR-cross-config.cmake
cmake --build .Usage of a custom cross-config.cmake is optinal. An example cross-config.cmake can be found in our LolaConnector project.
The website for the Eigen library seems down, so we include a copy of the library in the 3rdparty/eigen folder. We also ship a msgpack library in 3rdparty/msgpack for simplicty of building the project. Feel free to substitute your own libraries if desired.
All 3rd party code retains their respective license. The following license only applies to code from team HTWK Robots (formerly Nao-Team HTWK).
Copyright (c) 2024 HTWK Robots. All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
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Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
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The end-user documentation included with the redistribution, if any, must include the following acknowledgment: "This product includes software developed by Team HTWK Robots (htwk-robots.de)." Alternately, this acknowledgment may appear in the software itself, if and wherever such third-party acknowledgments normally appear.
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For each HTWK Robots code release from which parts are used in a RoboCup competition, the usage shall be announced in the SPL mailing list (currently [email protected]) one month before the first competition in which you are using it. The announcement shall name which parts of this code are used.
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Bug fixes regarding existing code shall be sent back to HTWK Robots via GitHub pull requests (https://github.com/NaoHTWK).
THIS SOFTWARE IS PROVIDED BY HTWK Robots "AS IS" AND ANY EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL NAO-TEAM HTWK NOR ITS MEMBERS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.