🦴 Adds Simulator from OpenQuadruped/spot_mini_mini

mock/simulator/mini_ros/launch/controller.launch

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+<launch>
+
+  <!-- Load joint controller configurations from YAML file to parameter server -->
+  <rosparam file="$(find mini_ros)/config/control.yaml" command="load"/>
+
+  <!-- Load the controllers -->
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+    output="screen" ns="/spot" args="joint_group_position_controller joint_states_controller"/>
+
+
+  <!-- convert joint states to TF transforms for rviz, etc -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
+    <remap from="/joint_states" to="/spot/joint_states" />
+  </node>
+
+</launch>

mock/simulator/mini_ros/launch/spot_calibrate.launch

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+<launch>
+<!-- Sensor Calibration Node -->
+<node name="servo_calibration" pkg="mini_ros" type="servo_calibration" output="screen"/>
+
+<!-- Sensor Interface Node -->
+<node pkg="rosserial_python" type="serial_node.py" name="serial_node">
+    <param name="port" value="/dev/ttyS0"/> <!-- HW Serial -->
+    <param name="baud" value="500000"/>  <!-- must match Teensy -->
+  </node>
+
+</launch>

mock/simulator/mini_ros/launch/spot_gazebo.launch

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+<launch>
+  <!-- Load the urdf into the parameter server from the xacro file-->
+  <param name="robot_description" command="xacro '$(find mini_ros)/urdf/spot.urdf.xacro'" />
+
+  <arg name="use_sim_time" default="true"/>
+  <arg name="gui" default="true"/>
+  <arg name="headless" default="false"/>
+  <arg name="debug" default="false"/>
+
+  <!-- We reuse the logic in empty_world.launch, changing only the name of the world to be launched -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="debug" value="$(arg debug)" />
+    <arg name="gui" value="$(arg gui)" />
+    <arg name="paused" value="true"/>
+    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+    <arg name="headless" value="$(arg headless)"/>
+  </include>
+
+  <!-- Spawn the urdf -->
+  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -x 0.0 -y 0.0 -z 0.26 -model spot" respawn="false" output="screen"/>
+
+  <include file="$(find mini_ros)/launch/controller.launch"/>
+
+</launch>

mock/simulator/mini_ros/launch/spot_move.launch

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+<launch>
+ <!-- Minitaur State Machine Node-->
+  <node name="spot_sm" pkg="mini_ros" type="spot_sm" output="screen">
+    <param name="frequency" value="200.0" type="double"/>
+  </node>
+
+ <!-- Joystick Node -->
+  <node respawn="true" pkg="joy"
+        type="joy_node" name="spot_joy" >
+    <param name="dev" type="string" value="/dev/input/js0" />
+    <param name="deadzone" value="0.05" />
+  </node>
+
+ <!-- Teleop Node -->
+ <node name="spot_teleop" pkg="mini_ros" type="teleop_node" output="screen">
+  <param name="frequency" value="200.0" type="double"/>
+  <param name="axis_linear_x" value="4" type="int"/>
+  <param name="axis_linear_y" value="3" type="int"/>
+  <param name="axis_linear_z" value="1" type="int"/>
+  <param name="axis_angular" value="0" type="int"/>
+  <param name="scale_linear" value="1.0" type="double"/>
+  <param name="scale_angular" value="1.0" type="double"/>
+  <param name="button_switch" value="0" type="int"/>
+  <param name="button_estop" value="1" type="int"/>
+</node>
+
+<!-- Policy Node -->
+<node name="spot_pybullet" pkg="mini_ros" type="spot_pybullet_interface" output="screen"/>
+
+
+<!-- NOTE:
+        Setting Up Joystick:
+          - Get Number (you will see something like jsX): ls /dev/input/
+          - Make available to ROS: sudo chmod a+rw /dev/input/jsX
+          - Make sure <param name="dev" type="string" value="/dev/input/jsX" /> is correct in launch
+
+        You can ignore this msg: [ERROR] [1591631380.406690714]: Couldn't open joystick force feedback!
+        It just means your controller is missing some functionality, but this package doesn't use it. 
+-->
+
+</launch>

mock/simulator/mini_ros/launch/spot_real.launch

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+<launch>
+ <!-- Minitaur State Machine Node-->
+  <node name="spot_sm" pkg="mini_ros" type="spot_sm" output="screen">
+    <param name="frequency" value="200.0" type="double"/>
+  </node>
+
+ <!-- Joystick Node -->
+  <node respawn="true" pkg="joy"
+        type="joy_node" name="spot_joy" >
+    <param name="dev" type="string" value="/dev/input/js0" />
+    <param name="deadzone" value="0.005" />
+  </node>
+
+ <!-- Teleop Node -->
+ <node name="spot_teleop" pkg="mini_ros" type="teleop_node" output="screen">
+  <param name="frequency" value="200.0" type="double"/>
+  <param name="axis_linear_x" value="4" type="int"/>
+  <param name="axis_linear_y" value="3" type="int"/>
+  <param name="axis_linear_z" value="1" type="int"/>
+  <param name="axis_angular" value="0" type="int"/>
+  <param name="scale_linear" value="1.0" type="double"/>
+  <param name="scale_angular" value="1.0" type="double"/>
+  <param name="button_switch" value="0" type="int"/>
+  <param name="button_estop" value="1" type="int"/>
+</node>
+
+<!-- Policy Node -->
+<arg name="agent_num" default="0" doc="Agent Number for ARS (GMBC) Policy. Default (0) Loads no Agent. Policy numbers start at 9 and increase by 10. E.G: 9...19...29..."/> 
+<param name="agent_num" value="$(eval arg('agent_num'))" />
+
+<!-- Spot Params -->
+<rosparam command="load" file="$(find mini_ros)/config/spot_params.yaml" />
+
+<!-- Policy Params -->
+<rosparam command="load" file="$(find mini_ros)/config/policy_params.yaml" />
+
+<!-- Joystick Params -->
+<rosparam command="load" file="$(find mini_ros)/config/joy_params.yaml" />
+
+<!-- the above is equivalent to $(eval agent_num) but I left it in to acknowledge that both options exist -->
+<node name="spot_real" pkg="mini_ros" type="spot_real_interface" output="screen"/>
+
+<!-- Sensor Interface Node -->
+<node pkg="rosserial_python" type="serial_node.py" name="serial_node">
+    <param name="port" value="/dev/ttyS0"/> <!-- HW Serial -->
+    <param name="baud" value="500000"/>  <!-- must match Teensy -->
+  </node>
+
+
+<!-- NOTE:
+        Setting Up Joystick:
+          - Get Number (you will see something like jsX): ls /dev/input/
+          - Make available to ROS: sudo chmod a+rw /dev/input/jsX
+          - Make sure <param name="dev" type="string" value="/dev/input/jsX" /> is correct in launch
+
+        You can ignore this msg: [ERROR] [1591631380.406690714]: Couldn't open joystick force feedback!
+        It just means your controller is missing some functionality, but this package doesn't use it. 
+-->
+
+</launch>

mock/simulator/mini_ros/launch/view_spot.launch

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+<launch>
+  <!-- This launchfile loads a differential drive robot into RViz, whose parameters are set
+       and can be modified in diff_params.yaml -->
+
+  <!-- load the urdf into the parameter server from the xacro file-->
+  <param name="robot_description" command="xacro '$(find mini_ros)/urdf/spot.urdf.xacro'" />
+
+  <!-- The robot_state_publisher reads the urdf from /robot_description parameter
+       and listens to joint information on the /joint_states topic -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+
+  <!-- The joint state publisher will be launched with a gui, read the urdf from /robot_description
+       and publish the joint values on /joint_states. Optional launch using use_jsp_gui:=1 --> 
+  <arg name="use_jsp_gui" default="True" doc="Launch the joint_state_publisher gui to publish joint angles"/>
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"/>
+  <!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/> -->
+
+  <!-- rviz will enable us to see the robot. REQUIRED NODE - All other nodes terminate when RViz closes -->
+  <node name="rviz" pkg="rviz" type="rviz" required="True" args="-d $(find mini_ros)/rviz/spot.rviz"/>
+
+</launch>