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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

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Capturability-based controller for walking with variable-height

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# 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