- legged_control: make sure you can run the legged_controllers in simulation or hardware;
- grid_map: NOTE that this is ANYbotics version, which only can install from source, instead of RSL version (apt install);
- elevation_mapping;
- elevation_mapping_cupy/plane_segmentation: NOTE that we only need convex_plane_decomposition_ros package (and its dependencies), DO NOT build the elevation_mapping_cupy package
- realsense_gazebo_plugin
- realsense2_description
git clone git@github.com:qiayuanliao/legged_perceptive.git
catkin build legged_perceptive_description legged_perceptive_controllers
Launch gazbeo
roslaunch legged_perceptive_description empty_world.launch
Load the controller
roslaunch legged_perceptive_controllers load_controller.launch