This README was created by translating the Japanese text using Google Translate.
Walking Controller using ROS_2 for Humanoid Robots.
A walking control software for humanoid robots using ROS 2. We are proceeding with development with an emphasis on scalability, versatility, and simplicity, and we plan to be able to make humanoid robots walk without any advanced work.
It is compatible with the following OS:
Not tested on other OSes, but may work.
It depends on the following software:
The version of this dependency is determined based on your development environment, so it may work with other versions.
Please install dependencies.
Please clone this repository.
Example:
mkdir -p ~/ros2_ws/src/ && cd ~/ros2_ws/src/
git clone https://github.com/open-rdc/ROS2_Walking_Pattern_Generator.git
Please build packages.
Example:
cd ~/ros2_ws/
colcon build --symlink-install
source install/setup.bash
Run the program with the following command:
ros2 launch robot_bringup robot_bringup_launch.py
Example of operation by executing this command:
The robot_description package contains parts of ROBOTIS-GIT/ROBOTIS-OP2-Common (license: Apache-2.0 license).
For details, see README.md in robot_description/models/robotis_op2.
This repository is licensed under Apache License 2.0.
Main developer & maintainer: Yusuke-Yamasaki-555 (GitHub, X (twitter), blog (jp))