Joint-Space CPG for Safe Foothold Planning and Body Pose Control during Locomotion and Climbing
You need Python 2.7 or Python 3.x or later. You can have multiple Python versions (2.x and 3.x) installed on the same system without problems.
-Numpy==1.19.5
-hebi-py==1.0.0
ROS distribution is required on your system. This code has been tested on Ubuntu 18.04 with ROS Melodic having Gazebo 9 in it.
Install ROS Melodic (Desktop-Full Install), with all its libraries and tools. Create and build a workspace.
Clone the Yuna package into the ROS workspace inside the src folder and build the workspace.
To use the camera plugin, we used this repo: https://github.com/SyrianSpock/realsense_gazebo_plugin, and cloned it in our workspace inside the src folder.
Please follow the instruction in https://github.com/ANYbotics/elevation_mapping to build the elevation map package.
In order to run the CPG code and Visualization tool: roslaunch xMonsterCPG m6_gazebo_cpg.launch.
To run the foothold correction node : rosrun xMonsterCPG foothold_correction.py.