perchess/quadruped_ctrl

MIT mini cheetah quadruped robot simulated in pybullet environment using ros.

MIT convex MPC library

Based on quadruped_ctrl repo

The package changed the types of arguments and edited the ros messages under the c++ format

There will be a gif here

System requirements:

Ubuntu 20.04, ROS Melodic

Dependency:

use Logitech gamepad to control robot

git clone https://github.com/Derek-TH-Wang/gamepad_ctrl.git

Build

cd {your workspace}
catkin make
source devel/setup.bash

Install Python dependencies

pip3 install -r requirements.txt

Running:

run the gamepad node to control robot:

roslaunch gamepad_ctrl gamepad_ctrl.launch

run the controller in simulator:

roslaunch quadruped_ctrl quadruped_ctrl.launch

switch the camera on / off: camera set True or False in config/quadruped_ctrl_config.yaml, then launch the rviz to see the point cloud:

roslaunch quadruped_ctrl vision.launch

also can switch the gait type:

rosservice call /gait_type "cmd: 1"

gait type:

0:trot
1:bunding
2:pronking
3:random
4:standing
5:trotRunning
6:random2
7:galloping
8:pacing
9:trot (same as 0)
10:walking
11:walking2