This repository contains the software that can be used to control the ANYmal model in the DARPA Subterranean Challenge Virtual Competition Simulator.
Authors & Maintainers:
- Marco Tranzatto
- Samuel Zimmermann
- Timon Homberger
Affiliation: Robotic Systems Lab - ETH Zurich
This software is released under a BSD 3-Clause license.
If you use this work in an academic context, please cite the following publications:
Coming soon ...
The following dependencies are needed to run the ANYmal locomotion controller.
- catkin workspace setup for the SubT (Ignition) Simulation. See SubT (Ignition) Simulation.
- catkin_tools package. See catkin_tools.
Create the anymal_locomotion_ws
workspace and clone the cerberus_anymal_locomotion repo:
mkdir -p ~/anymal_locomotion_ws/src && cd ~/anymal_locomotion_ws/src
git clone git@github.com:leggedrobotics/cerberus_anymal_locomotion.git # or over https: git clone https://github.com/leggedrobotics/cerberus_anymal_locomotion.git
cd cerberus_anymal_locomotion/
git submodule update --init --recursive
Configure and build the workspace. We need to overlay the subt_ws
workspace because of protobuf version mismatch between one of our dependency (tensorflow-cpp) and the version used by Ignition Gazebo.
source /opt/ros/melodic/setup.bash
cd ~/anymal_locomotion_ws/
catkin config --extend ~/subt_ws/install/
catkin build cerberus_anymal_control
Launch the ANYmal locomotion controller:
source ~/anymal_locomotion_ws/devel/setup.bash
roslaunch cerberus_anymal_control cerberus_anymal_controller.launch
Please report bugs or issues using the Issue Tracker.