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robomechanics / quad-sdk

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.
https://robomechanics.github.io/quad-sdk/
MIT License
736 stars 137 forks source link

Adapting Quad-SDK on Aliengo for autonomous navigation project #415

Closed asuzukosi closed 6 months ago

asuzukosi commented 8 months ago

Hello, We are working on implementing autonomous navigation for a Unitree Aliengo robot in an unstructured environment for data collection. We are currently using the RPLidar a2m8 with HectorSLAM, we are using ROS kinetic on the Aliengo Unitree. Is Quad-SDK the best approach to our problem and how can we adapt it to our use case

ologandavid commented 8 months ago

Hi @asuzukosi, I'm happy to hear you're using Quad-SDK in your own work.

I haven't personally tested Quad-SDK in ROS Kinetic, but we have confirmed working versions on both Noetic and Melodic and I think ROS is mostly backwards compatible. Some edits that you might have to make include changing the C++14 requirements in all the Cmakelist files in the repo and checking other dependencies like gridmap are compatible with Kinetic.

If you would like to incorporate mapping from your RPLidar a2m8, I think the best approach would be to write that into it's own node, and publish a terrain map to the global planner to use the rest of the planning and control stack. Also see the wiki for instructions on adding a new robot to the code base. https://github.com/robomechanics/quad-sdk/wiki/Tutorial:-Adding-a-New-Type-of-Robot-to-Quad-SDK

Keep us updated on your progress or if you have any additional implementation questions.

Best, David Ologan

asuzukosi commented 7 months ago

Thank you @ologandavid, I'm having issues when running the planning node. I seems the local planner isn't running. I am using ros noetic. Please how can I resolve this

ologandavid commented 7 months ago

HI @asuzukosi, Could you provide an image of the error message you're facing? Off intuition its probably an issue with the solver or the way your launching the node, but I can't say for certain until I see what you're dealing with.

Best, David Ologan

ologandavid commented 7 months ago

@asuzukosi , Any updates on this? Otherwise I'll go ahead and close it.