Skip to content

Latest commit

 

History

History
56 lines (44 loc) · 2.06 KB

README.md

File metadata and controls

56 lines (44 loc) · 2.06 KB
Raw

BaselineFootstepPlanner

Humanoid footstep planner based on baseline methods with graph search

CI CI Documentation

Install

Requirements

  • Compiler supporting C++17
  • Tested on Ubuntu 20.04 / ROS Noetic and Ubuntu 18.04 / ROS Melodic

Dependencies

This package depends on

  • SBPL (automatically installed by rosdep install)

Installation procedure

It is assumed that ROS is installed.

  1. Setup catkin workspace.
$ mkdir -p ~/ros/ws_bfp/src
$ cd ~/ros/ws_bfp
$ wstool init src
$ wstool set -t src isri-aist/BaselineFootstepPlanner git@github.com:isri-aist/BaselineFootstepPlanner.git --git -y
$ wstool update -t src
  1. Install dependent packages.
$ source /opt/ros/${ROS_DISTRO}/setup.bash
$ rosdep install -y -r --from-paths src --ignore-src
  1. Build a package.
$ catkin build baseline_footstep_planner -DCMAKE_BUILD_TYPE=RelWithDebInfo --catkin-make-args all tests

Examples

Make sure that it is built with --catkin-make-args tests option.

Interactive planning

$ roslaunch baseline_footstep_planner footstep_planner.launch
BaselineFootstepPlanner-20220831.mp4

Standalone planning

$ rosrun baseline_footstep_planner TestFootstepPlanner

Integration into controller

The footstep planner in this library is available in the humanoid controller BaselineWalkingController.