https://github.com/leggedrobotics/cerberus_anymal_locomotion
https://github.com/leggedrobotics/cerberus_anymal_locomotion
Last synced: about 1 year ago
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- Host: GitHub
- URL: https://github.com/leggedrobotics/cerberus_anymal_locomotion
- Owner: leggedrobotics
- License: bsd-3-clause
- Created: 2020-04-01T13:18:58.000Z (over 6 years ago)
- Default Branch: master
- Last Pushed: 2021-02-01T12:39:00.000Z (over 5 years ago)
- Last Synced: 2025-04-06T20:46:32.415Z (about 1 year ago)
- Language: C++
- Size: 12.1 MB
- Stars: 18
- Watchers: 26
- Forks: 11
- Open Issues: 3
-
Metadata Files:
- Readme: README.md
- License: LICENSE
- Codeowners: .github/CODEOWNERS
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README
# CERBERUS ANYmal Locomotion
This repository contains the software that can be used to control the ANYmal model in the [DARPA Subterranean Challenge Virtual Competition Simulator](https://github.com/osrf/subt/wiki).
**Authors & Maintainers**:
* Samuel Zimmermann
* Marco Tranzatto
* Timon Homberger
**Affiliation:** [Robotic Systems Lab - ETH Zurich](https://rsl.ethz.ch/the-lab.html)
### ANYmal B
[](doc/cerberus_anymal_b.gif)
### ANYmal C
[](doc/cerberus_anymal_c.gif)
## License
This software is released under a [BSD 3-Clause license](LICENSE).
## Publications
If you use this work in an academic context, please cite the following publications:
> Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun and Marco Hutter
> **"Learning quadrupedal locomotion over challenging terrain"**,
> in Science Robotics, 21.10, 2020 ([DOI](https://robotics.sciencemag.org/content/5/47/eabc5986))
@article{Leeeabc5986,
author = {Lee, Joonho and Hwangbo, Jemin and Wellhausen, Lorenz and Koltun, Vladlen and Hutter, Marco},
title = {Learning quadrupedal locomotion over challenging terrain},
volume = {5},
number = {47},
elocation-id = {eabc5986},
year = {2020},
doi = {10.1126/scirobotics.abc5986},
publisher = {Science Robotics},
URL = {https://robotics.sciencemag.org/content/5/47/eabc5986},
eprint = {https://robotics.sciencemag.org/content/5/47/eabc5986.full.pdf},
journal = {Science Robotics}
}
## Dependencies
The following dependencies are needed to run the ANYmal locomotion controller.
* catkin workspace setup for the SubT (Ignition) Simulation. See [SubT (Ignition) Simulation](https://github.com/osrf/subt/wiki/Catkin%20System%20Setup).
* catkin_tools package. See [catkin_tools](https://catkin-tools.readthedocs.io/en/latest/installing.html).
## Instructions
Create the `anymal_locomotion_ws` workspace and clone the cerberus_anymal_locomotion repo:
```
mkdir -p ~/anymal_locomotion_ws/src && cd ~/anymal_locomotion_ws/src
git clone git@github.com:leggedrobotics/cerberus_anymal_locomotion.git # or over https: git clone https://github.com/leggedrobotics/cerberus_anymal_locomotion.git
cd cerberus_anymal_locomotion/
git submodule update --init --recursive
```
Configure and build the workspace. We need to overlay the `subt_ws` workspace because of protobuf version mismatch between one of our dependencies (tensorflow-cpp) and the version used by Ignition Gazebo. Furthermore we build in `Release` mode.
```
source /opt/ros/melodic/setup.bash
cd ~/anymal_locomotion_ws/
catkin config --extend ~/subt_ws/install/
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
```
Build and launch the locomotion controller for ANYmal B:
```
catkin build cerberus_anymal_b_control_1
source ~/anymal_locomotion_ws/devel/setup.bash
roslaunch cerberus_anymal_b_control_1 cerberus_anymal_controller.launch
```
Build and launch the locomotion controller for ANYmal C:
```
catkin build cerberus_anymal_c_control_1
source ~/anymal_locomotion_ws/devel/setup.bash
roslaunch cerberus_anymal_c_control_1 cerberus_anymal_controller.launch
```
## Bugs & Issues
Please report bugs or issues using the [Issue Tracker](https://github.com/leggedrobotics/cerberus_anymal_locomotion/issues).