Ubuntu Version: 20.04
Run git clone git@github.com:sakjdas/Intro2Ros_Quadruped_Project.git to clone the repository
Before building, run the command below to install some ros packages. open the terminal and run:
sudo apt-get install ros-noetic-image-pipeline
sudo apt-get install ros-noetic-octomap
sudo apt-get install ros-noetic-octomap-server
sudo apt-get install ros-noetic-octomap-rviz-plugins
sudo apt-get install ros-noetic-move-base
sudo apt-get install ros-noetic-map-server
cd into the folder which contains the source folder.
Build the project, run in the terminal.
Download the unity file of Quadruped in the following website: https://syncandshare.lrz.de/getlink/fiEg9ocZ6Pc5iuEa4QqN1b/
put the downloaded unity file in devel/lib/simulation/
run source devel/setup.bash
we have two differnent cases, so we still need two terminals.
step1: run the following command in the first terminal to start the simulation environment, perception pipeline and the visualization tool rviz:
roslaunch simulation simulation_rviz.launch
step2(choose one of the command below):
open a second terminal and run source devel/setup.bash
if you want to run our planning configuration, run the command below:
roslaunch controller_pkg planning.launch
if you want to run motion test, which we used to test different combination of the 5 robot link parameters, run following command:
rosrun controller_pkg controller_node_direct_run