Adding Ghost Robotics Robots

[allenh1]

We would love for our robots to be added to this repository! Recently, we've been creating our own Gazebo simulation (using our SDK), and would love to make our URDF files available for use with chvmp.

@AdarshKulkarni is the main person from Ghost leading this effort, so I'm also going to tag him here.

Our source is hosted on GitLab, under the Apache 2.0 license. You can find the repository here.

Let us know how to proceed from our end.

[grassjelly]

Hi Allen,

Appreciate you reaching out. Would be cool to add Vision and Spirit series into the pack.

I would normally modify a URDF if any of the assumptions here are not met: https://github.com/chvmp/champ_setup_assistant#31-using-a-urdf-file before generating the robot specific config package using the Setup Asssitant. If the URDF contains the inertial matrices and transmissions, the generated gazebo launch file should work out of the box.

I had a glimpse of your URDF and it seems that some modifications are required due to the rotation between frames. Here are some examples that meet the assumptions mentioned above:

Anymal - https://github.com/ANYbotics/anymal_b_simple_description
Spot - https://github.com/clearpathrobotics/spot_ros

I can help to configure and fine-tune the robot's PID constants (ROS Controllers) but would need some help to modify the URDF.