quadrupedal robot simulation by ROS and Gazebo
- clone this project to your ros workspace(usually is ~/catkin_ws/src).
cd ~/catkin_ws/src
git clone git@github.com:buenos-dan/cheetah_sim.git
- catkin_make this project.
cd ~/catkin_ws
catkin_make
source ./devel/setup.bash
- use roslaunch to start the simulation.
roslauch cheetah_gazebo cheetah.launch
roslauch cheetah_control cheetah_control.launch
rosrun cheetah_core stand_demo.py
if everything goes well. you will see a quadrupeal robot standing on the ground.
more manipulate methods are on the way.
| folder | Description |
|---|---|
| cheetah_description | contains STL files and URDF file |
| cheetah_gazebo | contains a launch file for using gazebo and spawn the model |
| cheetah_control | contains a launch file for load joint's plugins |
| cheetah_core | contains many code snippets such as inverseKinematics,Jacobi,Force control.. |
| folder | Description |
|---|---|
| pictures | contains a few of pictures of model and simulation |
| docs | contains some documents for tutorials |