EmbodiedAI
/
quadruped_ros2_control
mirror of https://github.com/legubiao/quadruped_ros2_control.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
quadruped_ros2_control/controllers/leg_pd_controller/README.md

711 B
Raw Blame History

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