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:

• ROS with a working catkin workspace
• SpaceVecAlg: spatial vector algebra
• RBDyn: rigid body dynamics
• eigen-lssol: quadratic programming (if you have the LSSOL licence ask us this library)
• eigen-qld: quadratic programming
• sch-core: collision detection
• Tasks: inverse kinematics
• mc_rbdyn_urdf: robot model loader
• copra: linear model predictive control
• CaptureProblemSolver: capturability optimization

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

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