https://github.com/stephane-caron/capture_walking_controller
Capturability-based controller for walking with variable-height
https://github.com/stephane-caron/capture_walking_controller
c-plus-plus humanoid-robot mc-rtc robotics walking-controller
Last synced: 4 months ago
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Capturability-based controller for walking with variable-height
- Host: GitHub
- URL: https://github.com/stephane-caron/capture_walking_controller
- Owner: stephane-caron
- License: bsd-2-clause
- Archived: true
- Created: 2018-10-13T09:43:33.000Z (over 6 years ago)
- Default Branch: master
- Last Pushed: 2021-10-19T10:45:28.000Z (over 3 years ago)
- Last Synced: 2025-02-15T14:59:02.431Z (4 months ago)
- Topics: c-plus-plus, humanoid-robot, mc-rtc, robotics, walking-controller
- Language: C++
- Homepage:
- Size: 156 KB
- Stars: 10
- Watchers: 4
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
- Citation: CITATION.cff
- Authors: AUTHORS
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README
# Capture Walking Controller
Source code of the walking controller used in the simulations of
[Capturability-based Pattern Generation for Walking with Variable
Height](https://hal.archives-ouvertes.fr/hal-01689331/document).
## Installation
Compilation has been tested on Ubuntu 14.04 (gcc/clang) with ROS Indigo.
### Dependencies
Compilation requires:
* [ROS](http://www.ros.org/) with a working [catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace)
* [SpaceVecAlg](https://github.com/jrl-umi3218/SpaceVecAlg): spatial vector algebra
* [RBDyn](https://github.com/jrl-umi3218/RBDyn/): rigid body dynamics
* [eigen-lssol](https://gite.lirmm.fr/multi-contact/eigen-lssol): quadratic programming (if you have the LSSOL licence ask us this library)
* [eigen-qld](https://github.com/jrl-umi3218/eigen-qld): quadratic programming
* [sch-core](https://github.com/jrl-umi3218/sch-core): collision detection
* [Tasks](https://github.com/jrl-umi3218/Tasks/): inverse kinematics
* [mc\_rbdyn\_urdf](https://github.com/jrl-umi3218/mc_rbdyn_urdf): robot model loader
* [copra](https://github.com/vsamy/copra): linear model predictive control
* [CaptureProblemSolver](https://github.com/jrl-umi3218/CaptureProblemSolver): capturability optimization
The following dependencies are not publicly released yet but available upon
request to [Pierre Gergondet](mailto:[email protected]):
* [mc\_rtc](https://gite.lirmm.fr/multi-contact/mc_rtc): robot controller library (includes mc_control, mc_rbdyn, mc_solver and mc_tasks)
* [mc\_rtc\_ros](https://gite.lirmm.fr/multi-contact/mc_rtc_ros): ROS tools for mc_rtc
* [mc\_rtc\_ros\_data](https://gite.lirmm.fr/multi-contact/mc_rtc_ros_data): ROS environment and object descriptions for mc_rtc
### Building from source on Linux
Link `capture_walking_controller` from the source folder of your catkin workspace,
then follow the standard catkin workflow:
```sh
catkin_make -DCMAKE_BUILD_TYPE=RelWithDebInfo && catkin_make install
```
## Usage
First, launch RViz by:
```sh
roslaunch capture_walking_controller display.launch
```
Then, run your mc\_rtc interface on the main confuguration file:
```sh
capture_walking_controller/etc/mc_rtc.conf
```
where ```` is for instance ``mc_vrep`` or ``MCControlTCP``.
## Thanks
- To Pierre Gergondet for developing and helping with the mc\_rtc framework