CERBERUS ANYmal Locomotion

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

License

This software is released under a BSD 3-Clause license.

Publications

If you use this work in an academic context, please cite the following publications:

Coming soon ...

Dependencies

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.

Instructions

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

Bugs & Issues