Capturability-based controller for walking with variable-height
Switch branches/tags
Nothing to show
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
cmake @ afe48f2
etc
include/capture_walking
launch
src
.gitignore
.gitmodules
AUTHORS
CMakeLists.txt
LICENSE
README.md
package.xml

README.md

Capture Walking Controller

Source code of the walking controller used in the simulations of Capturability-based Pattern Generation for Walking with Variable Height.

Installation

Compilation has been tested on Ubuntu 14.04 (gcc/clang) with ROS Indigo.

Dependencies

Compilation requires:

The following dependencies are not publicly released yet but available upon request to Pierre Gergondet:

  • mc_rtc: robot controller library (includes mc_control, mc_rbdyn, mc_solver and mc_tasks)
  • mc_rtc_ros: ROS tools for mc_rtc
  • mc_rtc_ros_data: ROS environment and object descriptions for mc_rtc

There is currently an additional dependency to the eigen-lssol library. It will be replaced by eigen-qld in a future update.

Building from source on Linux

Link capture_walking_controller from the source folder of your catkin workspace, then follow the standard catkin workflow:

catkin_make -DCMAKE_BUILD_TYPE=RelWithDebInfo && catkin_make install

Usage

First, launch RViz by:

roslaunch capture_walking_controller display.launch

Then, run your mc_rtc interface on the main confuguration file:

<mc_rtc_interface> capture_walking_controller/etc/mc_rtc.conf

where <mc_rtc_interface> is for instance mc_vrep or MCControlTCP.

Thanks

  • To Pierre Gergondet for developing and helping with the mc_rtc framework