quadruped_ros2_control/controllers/leg_pd_controller/README.md

# Leg PD Controller

This package contains a simple PD controller for the leg joints of the quadruped robot. By using this controller, other ros2-control based on position control can also work on the hardware interface which only contain effort control (for example, gazebo ros2 control).

Tested environment:
* Ubuntu 24.04
  * ROS2 Jazzy

## 1. Interfaces

Provided interfaces:
* joint position
* joint velocity
* joint effort
* KP
* KD

Required hardware interfaces:
* command:
  * joint effort
* state:
  * joint position
  * joint velocity

## 2. Build
```bash
cd ~/ros2_ws
colcon build --packages-up-to leg_pd_controller
```

## 3. Run
* [Go1/A1 in gazebo simulation](../../descriptions/quadruped_gazebo)
add pd controller 2024-09-19 22:45:08 +08:00			`# Leg PD Controller`

fix go1 gazebo visualization 2024-09-20 15:29:44 +08:00			`This package contains a simple PD controller for the leg joints of the quadruped robot. By using this controller, other ros2-control based on position control can also work on the hardware interface which only contain effort control (for example, gazebo ros2 control).`

add cyber dog 2024-09-20 17:56:00 +08:00			`Tested environment:`
			`* Ubuntu 24.04`
			`* ROS2 Jazzy`

fix go1 gazebo visualization 2024-09-20 15:29:44 +08:00			`## 1. Interfaces`

			`Provided interfaces:`
			`* joint position`
			`* joint velocity`
			`* joint effort`
			`* KP`
			`* KD`

			`Required hardware interfaces:`
			`* command:`
			`* joint effort`
			`* state:`
			`* joint position`
			`* joint velocity`

			`## 2. Build`
add pd controller 2024-09-19 22:45:08 +08:00			```bash
			`cd ~/ros2_ws`
			`colcon build --packages-up-to leg_pd_controller`
fix go1 gazebo visualization 2024-09-20 15:29:44 +08:00			```

			`## 3. Run`
			`* [Go1/A1 in gazebo simulation](../../descriptions/quadruped_gazebo)`