search

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
694 stars 132 forks source link

with ROS2？ #421

Closed yccckid closed 4 months ago

yccckid commented 4 months ago

this work can be perfomed by ROS2?

ologandavid commented 4 months ago

Hi @yccckid, Currently, the code base only supports ROS1. However, the lab is planning on converting the code base to ROS2 over the summer, so look forward to those additions! If you'd like to help, or you have a working version of ROS2, we'd love to see you make a pull request!

Best, David Ologan

zhxiaoyu218 commented 3 months ago

Hi, David, we'd like to work on ROS2 for GO2, as their sdk naturely support dds. Would mind if we build on top of this repo.

ologandavid commented 3 months ago

Hi @zhxiaoyu218, That sounds great! As a lab, we'd like to encourage others to build on the repo to suit their own purposes. If you're using this work in an academic context, please cite the following publications.

Additionally, if you get a working implementation in ROS2 feel free to make a pull request and I can formally add it to the repo. I've started updating the repo to ROS2 as well, but if you would like to give it a shot before I get to it feel free.

If you would like, we could schedule a call and we can talk through the process and work together on this.

All the best, David Ologan