ASCC2022 - Eungchang Mason Lee, Jinwoo Jeon, and Hyun Myung "TROT-Q: TRaversability and Obstacle aware Target tracking system for Quadruped robots"
Tracking detected target (YOLOv4-tiny-3l
network is used)
FAST-LIO2
SLAM is used to estimate the states
Traversability and obstacle collision are checked
Minimum Jerk Trajectory is tracked
High-level velocity MPC control
Low-level PID control
OpenCV
version >= 4.4.0
cv_bridge
ROS and Gazebo
refer here
$ sudo apt install ros-<distro>-desktop-full
Dependencies
$ sudo apt install ros-melodic-gazebo-plugins ros-melodic-ros-control ros-melodic-ros-controllers
$ sudo apt install ros-melodic-hector-gazebo-plugins
$ wget -O ubuntu.sh https://raw.githubusercontent.com/PX4/PX4-Autopilot/master/Tools/setup/ubuntu.sh
$ wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/master/Tools/setup/requirements.txt
$ source ubuntu.sh
$ sudo apt upgrade libignition-math4
$ cd ~ /your_workspace/src
$ git clone --recursive https://github.com/engcang/trot-q
$ cd trot-q/gazebo_maps
$ tar -xf height_maze.tar.xz
$ tar -xf common_models.tar.xz
$ cd ..
$ echo " export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH :$( pwd) /gazebo_maps/height_maze:$( pwd) /gazebo_maps/common_models" >> ~ /.bashrc
$ . ~ /.bashrc
$ cd ~ /your_workspace
$ catkin build -DCMAKE_BUILD_TYPE=Release
Launch Gazebo world
Change world
in the launch file, if you want.
Check dev
of joystick
to manually control Jackal
in the launch file.
$ roslaunch trot-q gazebo.launch
$ roslaunch trot-q main.launch
ANYMAL-B
Gazebo model from here
Many unnecessary files are trimmed
Champ
quadruped robot controller from here
Gazebo map, made by myself from here
Gazebo Jackal Gazebo model from here
Many unnecessary files are trimmed
Gazebo Ouster - referred here1 and here2
Many unnecessary files are trimmed
GPU-ray is enabled as here