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leggedrobotics / art_planner

Local Navigation Planner for Legged Robots
BSD 3-Clause "New" or "Revised" License
137 stars 20 forks source link

Working with Simulation #1

Closed ArghyaChatterjee closed 2 years ago

ArghyaChatterjee commented 3 years ago

Hi, thanks for open sourcing your work. I can reproduce this package cerberus_anymal_locomotion. Is there any walk through tutorial on how to integrate this package with ANYmal B/C ??

lorenwel commented 2 years ago

Hi,

thanks for your interest in my work. Unfortunately, there is no readily available way to interface this planner with the package you mentioned. That just includes the basic locomotion stack for ANYmal, but the art_planner relies on mapping and localization to provide an elevation map and the robot pose. If you have some form of localization running in your sim, you could try running elevation_mapping to provide an elevation map.