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quadruped_ros2_control
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quadruped_ros2_control/controllers/leg_pd_controller
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Zhenbiao Huang b76e70427a modified LICENSE and reference 2024-10-03 19:26:54 +08:00
..
include/leg_pd_controller can visualize and control gazebo robots 2024-09-20 12:48:45 +08:00
src can visualize and control gazebo robots 2024-09-20 12:48:45 +08:00
CMakeLists.txt add pd controller 2024-09-19 22:45:08 +08:00
README.md add cyber dog 2024-09-20 17:56:00 +08:00
leg_pd_controller.xml add pd controller 2024-09-19 22:45:08 +08:00
package.xml add pd controller 2024-09-19 22:45:08 +08:00

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

cd ~/ros2_ws
colcon build --packages-up-to leg_pd_controller

3. Run