This repository is for ROS-based Exo-skeleton simulations developed by Cal Poly's LLEAP in the year 2020. This simualation contains a simulation of the
LLEAP hip and knee assembly designs as of 2020.
Controlling the hip assembly:
- roslaunch the gazebo file within /hip_assembly
- roslaunch the controller file within /hip_control
- use the format "rostopic pub -1 /hip_assembly/hip_revolute_joint_position_controller/command std_msgs/Float64 INSERT_NUM_HERE" to control the hip. Change the INSERT_NUM_HERE value to a position in radians.