32 lines
711 B
Markdown
32 lines
711 B
Markdown
# Leg PD Controller
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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).
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Tested environment:
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* Ubuntu 24.04
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* ROS2 Jazzy
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## 1. Interfaces
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Provided interfaces:
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* joint position
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* joint velocity
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* joint effort
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* KP
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* KD
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Required hardware interfaces:
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* command:
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* joint effort
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* state:
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* joint position
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* joint velocity
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## 2. Build
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to leg_pd_controller
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```
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## 3. Run
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* [Go1/A1 in gazebo simulation](../../descriptions/quadruped_gazebo) |