Xpp is a ROS package for the visualization of motion-plans for legged robots. It draws support areas, contact forces and motion trajectories in RVIZ and displays URDFs for specific robots, including a one-legged, a two-legged hopper and HyQ. More example motions can be seen in this video, generated by the library towr.
This package has the following dependencies:
| Name | Min. Ver. | Description | Install |
|---|---|---|---|
| ROS | indigo | catkin, roscpp, ... | sudo apt-get install ros-<ros-distro>-desktop-full |
| Eigen | v3.2.0 | Library for linear algebra | sudo apt-get install libeigen3-dev |
This package in part of the ROS debians, so you can directly run
sudo apt-get install ros-<ros_distro>-xppIf you want to build this package from source to make your own modifications, execute
cd catkin_workspace/src
git clone https://github.com/leggedrobotics/xpp.git
cd ..
catkin_make
source ./devel/setup.bash
Make sure everything installed correctly by running the unit tests through
$ catkin_make run_tests
or if you are using catkin tools.
$ catkin build xpp_vis --no-deps --verbose --catkin-make-args run_tests
A few examples for different robots are provided in the xpp_examples package, e.g.
xpp_examples/src/monoped_pub.cc. For starters, run
$ roslaunch xpp_examples hyq_bag.launch // or any other launch file in this package
If you use this work in an academic context, please cite the currently released version 
Please report bugs, request features or ask questions using the Issue Tracker. In case you want to contribute your own robot URDF, add the URDF + inverse kinematics function and create a PR.