Server Example: Templated Tracked Robot

Overview

Loads a templated tracked robot URDF with parameter overrides and drives it over a row of steps. Its four belts are URDF <track> elements (see Tracks), so the controller only sets PD targets on the two sprockets and the two flippers. It also shows how to customize URDF parameters programmatically.

Screenshot

templated_tracked_robot example

Target

CMake target: templated_tracked_robot.

Run

Run the build-tree executable:

./build-examples/examples/templated_tracked_robot

On Windows, run templated_tracked_robot.exe instead. This example uses RaisimServer. Start rayrai_tcp_viewer and connect to port 8080.

Details

  • Instantiates a templated tracked robot URDF with parameter overrides (rsc/templatedTrackedRobot/trackedTemplate.urdf).

  • The main tracks wrap a sprocket and an idler; each flipper’s track is driven from the sprocket’s shaft, so it moves at the main belt’s speed relative to the ground.

  • Drives the sprockets at 5 rad/s (velocity control, 0.89 m/s belt speed) and holds the flippers raised at 0.6 rad (position control); the robot climbs the steps with its flippers.

  • Adds a sequence of box obstacles in front of the robot.