Legged robot demo

[SteveMacenski]

Create a demonstration using Navigation2 and open-source tools to enable autonomous navigation of a quadruped, biped, or other non-wheeled robot to show that nav2 is capable of handling it.

This may require creating a new controller plugin to interface to the robot's stability / gait / footstep controller. Though if the controller is setup to accept a target velocity, we may be able to directly utilize DWB for computing control targets and the robot's specific controllers will use the sensors and velocity command to achieve those goals itself.

[hyunseok-yang]

Here are quick question in terms for quadruped controller.

I tried to find the package in ROS2 version. but I couldn't. There is one of open project for that. https://github.com/chvmp/champ But, as far as I know, it's ROS1 based.

Is there anyone who tried ROS2 based quadruped controller ? :)

[SteveMacenski]

Look at the MIT cheetah repos, those are much better from a controls perspective.

This ticket is more focused on the demonstration of quadruped navigation using Nav2, in an applied deployment, and algorithms meant for the specific constraints of quad nav. It assumes theres some step planner (for vision based) and reactive walking gait controllers to track a given path / commanded velocity. These are typically shipped as the low level controllers in a quad product like ghost, boston dynamics, or unitree so they can just be considered as a given when working with a commercially available platform. Its a different problem if you’re building one.

[hyunseok-yang]

@SteveMacenski thank you for your comment :)

So, for more clarification, if my understanding is correct, only 'odom' pose will be used for quadruped navigation, right? And All quadruped controlling is low level side and it's depends on each commercial platform.

I'm not building a new one, just trying to bring-up any one of those, for example, SPOT(boston dynamics) model!