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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

Minimum working demo #5

Closed justinberi closed 1 year ago

justinberi commented 2 years ago

Hi, I am looking for a minimum working demonstration with visualisation.

Your readme states

We provide a launch file which should be everything you need, if you work with ANYmal.

and

You can use the 2D Nav Goal in RViz to set a goal pose for the planner.

which suggests there is an external ANYmal simulator/ros package that this compatible with. But I am unfamiliar with that.

Are you able to provide guidance on how to run this with that simulator if it exists?

lorenwel commented 1 year ago

Hi @justinberi sorry for the glacial response time. Unforunately, I cannot provide a working demo, since it would require access to ANYmal Research to do that reasonably. However, it shouldn't be too hard to get everything up-and-running on your own robot, if you have it running in Gazebo or real-life. You will only have to adjust the robot parameters in the art_planner_ros/config/params.yaml file to the specifications of your robot. Of course you will also need some sort of height mapping as input to the planner (e.g. elevation_mapping_cupy ).

If you manage to create a launch file and instructions for running it with some default Gazebo robots, I'd be happy to include it with a PR>