Dropbear Gazebo - Robot Simulation

A workspace containing a modular humanoid robot Dropbear with full Gazebo simulation support and control system.

🚀 Features

• Modular Design: Separate packages for each robot component (head, torso, arms, legs, pelvis, battery)
• Gazebo Simulation: Full 3D simulation with physics and visualization
• ROS 2 Control: Integrated control system with multiple controllers for different robot parts
• Stewart Platform Head: Advanced 6-DOF head control system
• Complete URDF/Xacro: Detailed robot description with materials and meshes

📁 Project Structure

dropbear_gazebo/
├── dropbear_granular_urdf/     # Main robot description package
│   ├── launch/                 # Launch files for simulation
│   ├── urdf/                   # Robot description files (Xacro/URDF)
│   ├── meshes/                 # 3D mesh files organized by component
│   ├── config/                 # Controller configurations
│   └── rviz/                   # RViz configuration files
├── battery/                    # Battery component package
├── head/                       # Head component package
├── pelvis/                     # Pelvic girdle component package
├── right_arm/                  # Right arm component package
├── right_leg/                  # Right leg component package
└── torso/                      # Torso component package

🛠️ Prerequisites

• ROS 2 (Humble or later recommended)
• Gazebo (with ROS 2 integration)
• colcon build system
• xacro package
• gazebo_ros2_control package

Install Dependencies

# Install ROS 2 (if not already installed)
# Follow instructions at: https://docs.ros.org/en/humble/Installation.html

# Install required packages
sudo apt update
sudo apt install ros-humble-gazebo-ros2-control ros-humble-xacro ros-humble-robot-state-publisher

# Install colcon (if not already installed)
sudo apt install python3-colcon-common-extensions

🏗️ Building the Workspace

1. Clone the repository:

   git clone <repository-url>
   cd dropbear_gazebo

2. Build the workspace:

   colcon build

3. Source the workspace:

   source install/setup.bash

🎮 Running the Simulation

Launch Gazebo Simulation

# Launch the complete robot in Gazebo
ros2 launch dropbear_granular_urdf hyperspawn_dropbear_gazebo.launch.py

Launch RViz Visualization

# Launch RViz for robot visualization (without Gazebo)
ros2 launch dropbear_granular_urdf hyperspawn_dropbear_display.launch.py

🤖 Robot Components

Controllers Available

The robot includes the following controllers:

• Head: Stewart platform slider controller (6-DOF)
• Arms:
  • Hand controllers (position control)
  • Elbow controllers (effort control)
• Legs:
  • Hip joint controllers
  • Knee controllers
  • Foot controllers
• Pelvis: Waist joint controller
• Battery: Power management system

Control Topics

Once the simulation is running, you can control the robot using standard ROS 2 control interfaces:

# List available controllers
ros2 control list_controllers

# Send commands to specific controllers
ros2 topic pub /stewart_slider_controller/commands std_msgs/msg/Float64MultiArray "data: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]"

🔧 Configuration

Controller Configuration

Controller parameters are defined in dropbear_granular_urdf/config/controllers.yaml. You can modify:

• Update rates
• Joint limits
• Control gains
• Controller types

Robot Description

The main robot description is in dropbear_granular_urdf/urdf/dropbear.urdf.xacro. This file includes:

• Component macros for each robot part
• Joint configurations
• Material definitions
• ROS 2 control integration

🐛 Troubleshooting

Common Issues

1. Gazebo not starting: Ensure Gazebo is properly installed with ROS 2 integration
2. Missing meshes: All mesh files are included in the repository
3. Controller errors: Check that gazebo_ros2_control is installed
4. Build errors: Ensure all ROS 2 dependencies are installed

Debug Commands

# Check robot description
ros2 topic echo /robot_description

# View joint states
ros2 topic echo /joint_states

# Check controller status
ros2 control list_controllers

📝 License

This project is licensed under the MIT License - see the LICENSE file for details.

👥 Contributing

1. Fork the repository
2. Create a feature branch
3. Make your changes
4. Test thoroughly
5. Submit a pull request

Dev Support

For technical support and questions:

• Hyperspawn.co
• GitHub Issues
• Discord
• TG
• Docs
• Gallery
• Buy Robot
• Web-Simulator
• Contact the maintainer: Priyanshupareek ([email protected])

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Note: This is a simulation package. For real robot deployment, additional safety considerations and hardware-specific configurations may be required.