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eborghi10 / quadruped_ctrl

MIT Mini Cheetah quadruped robot simulated in pybullet environment using ROS.
MIT License
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Hi I get the following error "cannot launch node of type [elevation_mapping/elevation_mapping]: elevation_mapping" ? #5

Open shivauchiha opened 2 years ago

shivauchiha commented 2 years ago

When I try to run controller simulation, I get the above mentioned error ? which ros package should I install ? Screenshot from 2022-02-11 09-02-03

eborghi10 commented 2 years ago

Hi @shivauchiha, you're missing some dependencies. Check my answer here.

shivauchiha commented 2 years ago

Hi eborgi ! Thanks for your response. Will try and get back to you.

I have one smaller doubts

  1. I went through the list and noticed there was a repo related to Tower and champ mentioned, is this a dependency for this simulation? If yes how is it used in tandem with Mit Controller ? There is also no mention of elevation mapping ?

  2. I came across this repo, HitSZwang. The description says the original repo didn't have a Whole Body controller and it was running only in MPC. Can you help me understand how this repo is different from the other one? I am trying to understand the entire Mit Cheetah source code, your guidance will help me a lot!

My current goal to build a ROS2 version of Mini cheetah with gazebo sim. This way I could learn both ROS2 and as well as understand Mini Cheetah software.

Again Thank you so much for your work!

eborghi10 commented 2 years ago
  1. went through the list and noticed there was a repo related to Tower and champ mentioned, is this a dependency for this simulation? If yes how is it used in tandem with Mit Controller ? There is also no mention of elevation mapping ?

The MIT controller is not being used here. I was working on it in this PR but there's some work to do yet. Instead, this repo uses a similar but slightly different controller which provides some ROS interfaces and connects to Towr, elevation_mapping, etc (other ROS packages).

  1. I came across this repo, HitSZwang. The description says the original repo didn't have a Whole Body controller and it was running only in MPC. Can you help me understand how this repo is different from the other one? I am trying to understand the entire Mit Cheetah source code, your guidance will help me a lot!

Both repositories are quite similar. This one uses the whole body controller package for visualization purposes only. If you want to understand the MIT Controller I recommend you to read some papers from the MIT University and run their simulation. Otherwise, it will be much harder.

My current goal to build a ROS2 version of Mini cheetah with gazebo sim. This way I could learn both ROS2 and as well as understand Mini Cheetah software.

If you want to do this, champ already has some cool robots but uses a custom controller which is based on the MIT Cheetah. Anyways, you can try yours with a bit of work.

shivauchiha commented 2 years ago

Thanks for the response !

The MIT controller is not being used here. I was working on it in https://github.com/eborghi10/quadruped_ctrl/pull/2 but there's some work to do yet. Instead, this repo uses a similar but slightly different controller which provides some ROS interfaces and connects to Towr, elevation_mapping, etc (other ROS packages).

I thought this was a adaption of MIT cheetah controller since the file names between the original cheetah repo and this repo was similar. So are you using some segments of code from the orginal controller ?

eborghi10 commented 2 years ago

Exactly.