Description

This fork implements the concepts presented in the research paper "Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control" within the Quad-SDK framework. This project was developed as part of the Group Project in the Master's program in Advanced Robotics at Centrale Nantes.

Key Features

• Implementation of the paper's convex MPC approach for dynamic locomotion control of the MIT Cheetah 3 robot.
• Integration of the control algorithm into the Quad-SDK environment.

Paper

The paper is on the following link Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control.

Default Quad-SDK installation

Refer to the Quad-SDK Wiki for installation, dependency, and unit testing information. You need to build from the noetic branch of Quad-SDK and it requires ROS Noetic on Ubuntu 20.04. All other dependencies are installed with the included setup script.

Current fork dependecies

Installation Instructions for OSQP and OSQP-Eigen

To run the convex MPC, you need to install the OSQP and OSQP-Eigen solvers. We recommend building from source for the most reliable installation.

1. Installing OSQP

• Instructions: Follow the official guide: https://osqp.org/docs/get_started/sources.htm
• CMake Issue: If you encounter problems with the CMake version, do the following:
  1. Download the latest bash script from the CMake website: https://cmake.org/download/
  2. Copy it to /opt/
  3. Make the script executable: chmod +x /opt/cmake-3.*your_version*.sh
  4. Run: sudo bash /opt/cmake-3.*your_version*.sh (You can change the installation directory to /opt/ if you prefer)
  5. Create a symbolic link: sudo ln -s /opt/cmake-3.*your_version*/bin/* /usr/local/bin
  6. Verify the installation: cmake --version
• Additional Note: If you want to install OSQP in /usr/local, run the following before make: cmake -DCMAKE_INSTALL_PREFIX=/usr/local ..

2. Installing OSQP-Eigen

• Instructions: Follow the guide on GitHub: https://github.com/robotology/osqp-eigen
• Additional Commands: If you want to install in /usr/local, run:
  • cmake -DCMAKE_INSTALL_PREFIX:PATH=/usr/local/ ../
  • export OsqpEigen_DIR=/usr/local/ (Add this to your .bashrc file)
  • export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib (Add this to your .bashrc file)

Important: Make sure to adjust file paths and version numbers in commands as needed for your specific setup.

Usage

Launch the simulation with:

roslaunch quad_utils quad_gazebo.launch

Stand the robot with:

rostopic pub /robot_1/control/mode std_msgs/UInt8 "data: 1"

Run the stack with twist input:

roslaunch quad_utils quad_plan.launch reference:=twist logging:=true
rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/robot_1/cmd_vel

Run the stack with global planner:

roslaunch quad_utils quad_plan.launch reference:=gbpl logging:=true

Refer to the Wiki for more information on alternate usage.

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.