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Working with Simulation #1

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ArghyaChatterjee opened this issue Oct 26, 2021 · 1 comment
Closed

Working with Simulation #1

ArghyaChatterjee opened this issue Oct 26, 2021 · 1 comment

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@ArghyaChatterjee
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Hi, thanks for open sourcing your work. I can reproduce this package cerberus_anymal_locomotion. Is there any walk through tutorial on how to integrate this package with ANYmal B/C ??

@lorenwel
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Hi,

thanks for your interest in my work. Unfortunately, there is no readily available way to interface this planner with the package you mentioned. That just includes the basic locomotion stack for ANYmal, but the art_planner relies on mapping and localization to provide an elevation map and the robot pose.
If you have some form of localization running in your sim, you could try running elevation_mapping to provide an elevation map.

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