2024-09-20 15:29:44 +08:00
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# Quadruped ROS2 Control
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2024-09-11 20:41:12 +08:00
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2024-09-20 15:29:44 +08:00
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This repository contains the ros2-control based controllers for the quadruped robot.
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* [Controllers](controllers): contains the ros2-control controllers
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* [Commands](commands): contains command node used to send command to the controller
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* [Descriptions](descriptions): contains the urdf model of the robot
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* [Hardwares](hardwares): contains the ros2-control hardware interface for the robot
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2024-09-20 17:56:00 +08:00
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Todo List:
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- [x] Mujoco Simulation
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- [x] Unitree Guide Controller
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- [x] Gazebo Simulation
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- [x] Leg PD Controller
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2024-09-25 21:01:50 +08:00
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- [x] Contact Sensor
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2024-09-20 17:56:00 +08:00
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- [ ] OCS2 Legged Control
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2024-09-29 17:09:06 +08:00
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[](https://www.bilibili.com/video/BV1aJbAeZEuo/)
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2024-09-20 15:29:44 +08:00
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## 1. Build
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2024-09-11 20:41:12 +08:00
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* rosdep
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```bash
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cd ~/ros2_ws
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rosdep install --from-paths src --ignore-src -r -y
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```
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