No version for distro humble showing github. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description New quadruped robot, working on UP Xtreme board, and BLDC motors from Mjbots
Checkout URI https://github.com/elpimous/ylo-2.git
VCS Type git
VCS Version main
Last Updated 2023-04-30
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

CHAMP Core Library

Additional Links

No additional links.

Maintainers

  • Juan Miguel Jimeno

Authors

  • Juan Miguel Jimeno

champ Build Status

ROS Packages for CHAMP Quadruped Controller.

champ

CHAMP is an open source development framework for building new quadrupedal robots and developing new control algorithms. The control framework is based on “Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot”.

Core Features:

  • Fully Autonomous (using ROS navigation Stack).
  • Setup-assistant to configure newly built robots.
  • Collection of pre-configured URDFs like Anymal, MIT Mini Cheetah, Boston Dynamic’s Spot and LittleDog.
  • Gazebo simulation environment.
  • Compatible with DIY quadruped projects like SpotMicroAI and OpenQuadruped.
  • Demo Applications like TOWR and chicken head stabilization.
  • Lightweight C++ header-only library that can run on both SBC and micro-controllers.

Tested on:

  • Ubuntu 16.04 (ROS Kinetic)
  • Ubuntu 18.04 (ROS Melodic)

1. Installation

1.1 Clone and install all dependencies:

sudo apt install -y python-rosdep
cd <your_ws>/src
git clone --recursive https://github.com/chvmp/champ
git clone https://github.com/chvmp/champ_teleop
cd ..
rosdep install --from-paths src --ignore-src -r -y

If you want to use any of the pre-configured robots like Anymal, Mini Cheetah, or Spot, follow the instructions here.

1.2 Build your workspace:

cd <your_ws>
catkin_make
source <your_ws>/devel/setup.bash

2. Quick Start

You don’t need a physical robot to run the following demos. If you’re building a physical robot, you can find out more how to configure and run a new robot in step 3.

2.1 Walking demo in RVIZ:

2.1.1 Run the base driver:

roslaunch champ_config bringup.launch rviz:=true

2.1.2 Run the teleop node:

roslaunch champ_teleop teleop.launch

If you want to use a joystick add joy:=true as an argument.

2.2 SLAM demo:

2.2.1 Run the Gazebo environment:

roslaunch champ_config gazebo.launch 

2.2.2 Run gmapping package and move_base:

roslaunch champ_config slam.launch rviz:=true

To start mapping:

  • Click ‘2D Nav Goal’.
  • Click and drag at the position you want the robot to go.

    champ

  • Save the map by running:

    roscd champ_config/maps
    rosrun map_server map_saver
    

2.3 Autonomous Navigation:

2.3.1 Run the Gazebo environment:

roslaunch champ_config gazebo.launch 

2.3.2 Run amcl and move_base:

roslaunch champ_config navigate.launch rviz:=true

To navigate:

  • Click ‘2D Nav Goal’.
  • Click and drag at the position you want the robot to go.

    champ

3. Running your own robot:

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
catkin

System Dependencies

No direct system dependencies.

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged champ at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description New quadruped robot, working on UP Xtreme board, and BLDC motors from Mjbots
Checkout URI https://github.com/elpimous/ylo-2.git
VCS Type git
VCS Version main
Last Updated 2023-04-30
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

CHAMP Core Library

Additional Links

No additional links.

Maintainers

  • Juan Miguel Jimeno

Authors

  • Juan Miguel Jimeno

champ Build Status

ROS Packages for CHAMP Quadruped Controller.

champ

CHAMP is an open source development framework for building new quadrupedal robots and developing new control algorithms. The control framework is based on “Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot”.

Core Features:

  • Fully Autonomous (using ROS navigation Stack).
  • Setup-assistant to configure newly built robots.
  • Collection of pre-configured URDFs like Anymal, MIT Mini Cheetah, Boston Dynamic’s Spot and LittleDog.
  • Gazebo simulation environment.
  • Compatible with DIY quadruped projects like SpotMicroAI and OpenQuadruped.
  • Demo Applications like TOWR and chicken head stabilization.
  • Lightweight C++ header-only library that can run on both SBC and micro-controllers.

Tested on:

  • Ubuntu 16.04 (ROS Kinetic)
  • Ubuntu 18.04 (ROS Melodic)

1. Installation

1.1 Clone and install all dependencies:

sudo apt install -y python-rosdep
cd <your_ws>/src
git clone --recursive https://github.com/chvmp/champ
git clone https://github.com/chvmp/champ_teleop
cd ..
rosdep install --from-paths src --ignore-src -r -y

If you want to use any of the pre-configured robots like Anymal, Mini Cheetah, or Spot, follow the instructions here.

1.2 Build your workspace:

cd <your_ws>
catkin_make
source <your_ws>/devel/setup.bash

2. Quick Start

You don’t need a physical robot to run the following demos. If you’re building a physical robot, you can find out more how to configure and run a new robot in step 3.

2.1 Walking demo in RVIZ:

2.1.1 Run the base driver:

roslaunch champ_config bringup.launch rviz:=true

2.1.2 Run the teleop node:

roslaunch champ_teleop teleop.launch

If you want to use a joystick add joy:=true as an argument.

2.2 SLAM demo:

2.2.1 Run the Gazebo environment:

roslaunch champ_config gazebo.launch 

2.2.2 Run gmapping package and move_base:

roslaunch champ_config slam.launch rviz:=true

To start mapping:

  • Click ‘2D Nav Goal’.
  • Click and drag at the position you want the robot to go.

    champ

  • Save the map by running:

    roscd champ_config/maps
    rosrun map_server map_saver
    

2.3 Autonomous Navigation:

2.3.1 Run the Gazebo environment:

roslaunch champ_config gazebo.launch 

2.3.2 Run amcl and move_base:

roslaunch champ_config navigate.launch rviz:=true

To navigate:

  • Click ‘2D Nav Goal’.
  • Click and drag at the position you want the robot to go.

    champ

3. Running your own robot:

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
catkin

System Dependencies

No direct system dependencies.

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged champ at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description New quadruped robot, working on UP Xtreme board, and BLDC motors from Mjbots
Checkout URI https://github.com/elpimous/ylo-2.git
VCS Type git
VCS Version main
Last Updated 2023-04-30
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

CHAMP Core Library

Additional Links

No additional links.

Maintainers

  • Juan Miguel Jimeno

Authors

  • Juan Miguel Jimeno

champ Build Status

ROS Packages for CHAMP Quadruped Controller.

champ

CHAMP is an open source development framework for building new quadrupedal robots and developing new control algorithms. The control framework is based on “Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot”.

Core Features:

  • Fully Autonomous (using ROS navigation Stack).
  • Setup-assistant to configure newly built robots.
  • Collection of pre-configured URDFs like Anymal, MIT Mini Cheetah, Boston Dynamic’s Spot and LittleDog.
  • Gazebo simulation environment.
  • Compatible with DIY quadruped projects like SpotMicroAI and OpenQuadruped.
  • Demo Applications like TOWR and chicken head stabilization.
  • Lightweight C++ header-only library that can run on both SBC and micro-controllers.

Tested on:

  • Ubuntu 16.04 (ROS Kinetic)
  • Ubuntu 18.04 (ROS Melodic)

1. Installation

1.1 Clone and install all dependencies:

sudo apt install -y python-rosdep
cd <your_ws>/src
git clone --recursive https://github.com/chvmp/champ
git clone https://github.com/chvmp/champ_teleop
cd ..
rosdep install --from-paths src --ignore-src -r -y

If you want to use any of the pre-configured robots like Anymal, Mini Cheetah, or Spot, follow the instructions here.

1.2 Build your workspace:

cd <your_ws>
catkin_make
source <your_ws>/devel/setup.bash

2. Quick Start

You don’t need a physical robot to run the following demos. If you’re building a physical robot, you can find out more how to configure and run a new robot in step 3.

2.1 Walking demo in RVIZ:

2.1.1 Run the base driver:

roslaunch champ_config bringup.launch rviz:=true

2.1.2 Run the teleop node:

roslaunch champ_teleop teleop.launch

If you want to use a joystick add joy:=true as an argument.

2.2 SLAM demo:

2.2.1 Run the Gazebo environment:

roslaunch champ_config gazebo.launch 

2.2.2 Run gmapping package and move_base:

roslaunch champ_config slam.launch rviz:=true

To start mapping:

  • Click ‘2D Nav Goal’.
  • Click and drag at the position you want the robot to go.

    champ

  • Save the map by running:

    roscd champ_config/maps
    rosrun map_server map_saver
    

2.3 Autonomous Navigation:

2.3.1 Run the Gazebo environment:

roslaunch champ_config gazebo.launch 

2.3.2 Run amcl and move_base:

roslaunch champ_config navigate.launch rviz:=true

To navigate:

  • Click ‘2D Nav Goal’.
  • Click and drag at the position you want the robot to go.

    champ

3. Running your own robot:

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
catkin

System Dependencies

No direct system dependencies.

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged champ at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description New quadruped robot, working on UP Xtreme board, and BLDC motors from Mjbots
Checkout URI https://github.com/elpimous/ylo-2.git
VCS Type git
VCS Version main
Last Updated 2023-04-30
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

CHAMP Core Library

Additional Links

No additional links.

Maintainers

  • Juan Miguel Jimeno

Authors

  • Juan Miguel Jimeno

champ Build Status

ROS Packages for CHAMP Quadruped Controller.

champ

CHAMP is an open source development framework for building new quadrupedal robots and developing new control algorithms. The control framework is based on “Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot”.

Core Features:

  • Fully Autonomous (using ROS navigation Stack).
  • Setup-assistant to configure newly built robots.
  • Collection of pre-configured URDFs like Anymal, MIT Mini Cheetah, Boston Dynamic’s Spot and LittleDog.
  • Gazebo simulation environment.
  • Compatible with DIY quadruped projects like SpotMicroAI and OpenQuadruped.
  • Demo Applications like TOWR and chicken head stabilization.
  • Lightweight C++ header-only library that can run on both SBC and micro-controllers.

Tested on:

  • Ubuntu 16.04 (ROS Kinetic)
  • Ubuntu 18.04 (ROS Melodic)

1. Installation

1.1 Clone and install all dependencies:

sudo apt install -y python-rosdep
cd <your_ws>/src
git clone --recursive https://github.com/chvmp/champ
git clone https://github.com/chvmp/champ_teleop
cd ..
rosdep install --from-paths src --ignore-src -r -y

If you want to use any of the pre-configured robots like Anymal, Mini Cheetah, or Spot, follow the instructions here.

1.2 Build your workspace:

cd <your_ws>
catkin_make
source <your_ws>/devel/setup.bash

2. Quick Start

You don’t need a physical robot to run the following demos. If you’re building a physical robot, you can find out more how to configure and run a new robot in step 3.

2.1 Walking demo in RVIZ:

2.1.1 Run the base driver:

roslaunch champ_config bringup.launch rviz:=true

2.1.2 Run the teleop node:

roslaunch champ_teleop teleop.launch

If you want to use a joystick add joy:=true as an argument.

2.2 SLAM demo:

2.2.1 Run the Gazebo environment:

roslaunch champ_config gazebo.launch 

2.2.2 Run gmapping package and move_base:

roslaunch champ_config slam.launch rviz:=true

To start mapping:

  • Click ‘2D Nav Goal’.
  • Click and drag at the position you want the robot to go.

    champ

  • Save the map by running:

    roscd champ_config/maps
    rosrun map_server map_saver
    

2.3 Autonomous Navigation:

2.3.1 Run the Gazebo environment:

roslaunch champ_config gazebo.launch 

2.3.2 Run amcl and move_base:

roslaunch champ_config navigate.launch rviz:=true

To navigate:

  • Click ‘2D Nav Goal’.
  • Click and drag at the position you want the robot to go.

    champ

3. Running your own robot:

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
catkin

System Dependencies

No direct system dependencies.

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged champ at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 0.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description New quadruped robot, working on UP Xtreme board, and BLDC motors from Mjbots
Checkout URI https://github.com/elpimous/ylo-2.git
VCS Type git
VCS Version main
Last Updated 2023-04-30
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

CHAMP Core Library

Additional Links

No additional links.

Maintainers

  • Juan Miguel Jimeno

Authors

  • Juan Miguel Jimeno

champ Build Status

ROS Packages for CHAMP Quadruped Controller.

champ

CHAMP is an open source development framework for building new quadrupedal robots and developing new control algorithms. The control framework is based on “Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot”.

Core Features:

  • Fully Autonomous (using ROS navigation Stack).
  • Setup-assistant to configure newly built robots.
  • Collection of pre-configured URDFs like Anymal, MIT Mini Cheetah, Boston Dynamic’s Spot and LittleDog.
  • Gazebo simulation environment.
  • Compatible with DIY quadruped projects like SpotMicroAI and OpenQuadruped.
  • Demo Applications like TOWR and chicken head stabilization.
  • Lightweight C++ header-only library that can run on both SBC and micro-controllers.

Tested on:

  • Ubuntu 16.04 (ROS Kinetic)
  • Ubuntu 18.04 (ROS Melodic)

1. Installation

1.1 Clone and install all dependencies:

sudo apt install -y python-rosdep
cd <your_ws>/src
git clone --recursive https://github.com/chvmp/champ
git clone https://github.com/chvmp/champ_teleop
cd ..
rosdep install --from-paths src --ignore-src -r -y

If you want to use any of the pre-configured robots like Anymal, Mini Cheetah, or Spot, follow the instructions here.

1.2 Build your workspace:

cd <your_ws>
catkin_make
source <your_ws>/devel/setup.bash

2. Quick Start

You don’t need a physical robot to run the following demos. If you’re building a physical robot, you can find out more how to configure and run a new robot in step 3.

2.1 Walking demo in RVIZ:

2.1.1 Run the base driver:

roslaunch champ_config bringup.launch rviz:=true

2.1.2 Run the teleop node:

roslaunch champ_teleop teleop.launch

If you want to use a joystick add joy:=true as an argument.

2.2 SLAM demo:

2.2.1 Run the Gazebo environment:

roslaunch champ_config gazebo.launch 

2.2.2 Run gmapping package and move_base:

roslaunch champ_config slam.launch rviz:=true

To start mapping:

  • Click ‘2D Nav Goal’.
  • Click and drag at the position you want the robot to go.

    champ

  • Save the map by running:

    roscd champ_config/maps
    rosrun map_server map_saver
    

2.3 Autonomous Navigation:

2.3.1 Run the Gazebo environment:

roslaunch champ_config gazebo.launch 

2.3.2 Run amcl and move_base:

roslaunch champ_config navigate.launch rviz:=true

To navigate:

  • Click ‘2D Nav Goal’.
  • Click and drag at the position you want the robot to go.

    champ

3. Running your own robot:

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
catkin

System Dependencies

No direct system dependencies.

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged champ at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description New quadruped robot, working on UP Xtreme board, and BLDC motors from Mjbots
Checkout URI https://github.com/elpimous/ylo-2.git
VCS Type git
VCS Version main
Last Updated 2023-04-30
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

CHAMP Core Library

Additional Links

No additional links.

Maintainers

  • Juan Miguel Jimeno

Authors

  • Juan Miguel Jimeno

champ Build Status

ROS Packages for CHAMP Quadruped Controller.

champ

CHAMP is an open source development framework for building new quadrupedal robots and developing new control algorithms. The control framework is based on “Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot”.

Core Features:

  • Fully Autonomous (using ROS navigation Stack).
  • Setup-assistant to configure newly built robots.
  • Collection of pre-configured URDFs like Anymal, MIT Mini Cheetah, Boston Dynamic’s Spot and LittleDog.
  • Gazebo simulation environment.
  • Compatible with DIY quadruped projects like SpotMicroAI and OpenQuadruped.
  • Demo Applications like TOWR and chicken head stabilization.
  • Lightweight C++ header-only library that can run on both SBC and micro-controllers.

Tested on:

  • Ubuntu 16.04 (ROS Kinetic)
  • Ubuntu 18.04 (ROS Melodic)

1. Installation

1.1 Clone and install all dependencies:

sudo apt install -y python-rosdep
cd <your_ws>/src
git clone --recursive https://github.com/chvmp/champ
git clone https://github.com/chvmp/champ_teleop
cd ..
rosdep install --from-paths src --ignore-src -r -y

If you want to use any of the pre-configured robots like Anymal, Mini Cheetah, or Spot, follow the instructions here.

1.2 Build your workspace:

cd <your_ws>
catkin_make
source <your_ws>/devel/setup.bash

2. Quick Start

You don’t need a physical robot to run the following demos. If you’re building a physical robot, you can find out more how to configure and run a new robot in step 3.

2.1 Walking demo in RVIZ:

2.1.1 Run the base driver:

roslaunch champ_config bringup.launch rviz:=true

2.1.2 Run the teleop node:

roslaunch champ_teleop teleop.launch

If you want to use a joystick add joy:=true as an argument.

2.2 SLAM demo:

2.2.1 Run the Gazebo environment:

roslaunch champ_config gazebo.launch 

2.2.2 Run gmapping package and move_base:

roslaunch champ_config slam.launch rviz:=true

To start mapping:

  • Click ‘2D Nav Goal’.
  • Click and drag at the position you want the robot to go.

    champ

  • Save the map by running:

    roscd champ_config/maps
    rosrun map_server map_saver
    

2.3 Autonomous Navigation:

2.3.1 Run the Gazebo environment:

roslaunch champ_config gazebo.launch 

2.3.2 Run amcl and move_base:

roslaunch champ_config navigate.launch rviz:=true

To navigate:

  • Click ‘2D Nav Goal’.
  • Click and drag at the position you want the robot to go.

    champ

3. Running your own robot:

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
catkin

System Dependencies

No direct system dependencies.

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged champ at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description New quadruped robot, working on UP Xtreme board, and BLDC motors from Mjbots
Checkout URI https://github.com/elpimous/ylo-2.git
VCS Type git
VCS Version main
Last Updated 2023-04-30
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

CHAMP Core Library

Additional Links

No additional links.

Maintainers

  • Juan Miguel Jimeno

Authors

  • Juan Miguel Jimeno

champ Build Status

ROS Packages for CHAMP Quadruped Controller.

champ

CHAMP is an open source development framework for building new quadrupedal robots and developing new control algorithms. The control framework is based on “Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot”.

Core Features:

  • Fully Autonomous (using ROS navigation Stack).
  • Setup-assistant to configure newly built robots.
  • Collection of pre-configured URDFs like Anymal, MIT Mini Cheetah, Boston Dynamic’s Spot and LittleDog.
  • Gazebo simulation environment.
  • Compatible with DIY quadruped projects like SpotMicroAI and OpenQuadruped.
  • Demo Applications like TOWR and chicken head stabilization.
  • Lightweight C++ header-only library that can run on both SBC and micro-controllers.

Tested on:

  • Ubuntu 16.04 (ROS Kinetic)
  • Ubuntu 18.04 (ROS Melodic)

1. Installation

1.1 Clone and install all dependencies:

sudo apt install -y python-rosdep
cd <your_ws>/src
git clone --recursive https://github.com/chvmp/champ
git clone https://github.com/chvmp/champ_teleop
cd ..
rosdep install --from-paths src --ignore-src -r -y

If you want to use any of the pre-configured robots like Anymal, Mini Cheetah, or Spot, follow the instructions here.

1.2 Build your workspace:

cd <your_ws>
catkin_make
source <your_ws>/devel/setup.bash

2. Quick Start

You don’t need a physical robot to run the following demos. If you’re building a physical robot, you can find out more how to configure and run a new robot in step 3.

2.1 Walking demo in RVIZ:

2.1.1 Run the base driver:

roslaunch champ_config bringup.launch rviz:=true

2.1.2 Run the teleop node:

roslaunch champ_teleop teleop.launch

If you want to use a joystick add joy:=true as an argument.

2.2 SLAM demo:

2.2.1 Run the Gazebo environment:

roslaunch champ_config gazebo.launch 

2.2.2 Run gmapping package and move_base:

roslaunch champ_config slam.launch rviz:=true

To start mapping:

  • Click ‘2D Nav Goal’.
  • Click and drag at the position you want the robot to go.

    champ

  • Save the map by running:

    roscd champ_config/maps
    rosrun map_server map_saver
    

2.3 Autonomous Navigation:

2.3.1 Run the Gazebo environment:

roslaunch champ_config gazebo.launch 

2.3.2 Run amcl and move_base:

roslaunch champ_config navigate.launch rviz:=true

To navigate:

  • Click ‘2D Nav Goal’.
  • Click and drag at the position you want the robot to go.

    champ

3. Running your own robot:

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
catkin

System Dependencies

No direct system dependencies.

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged champ at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description New quadruped robot, working on UP Xtreme board, and BLDC motors from Mjbots
Checkout URI https://github.com/elpimous/ylo-2.git
VCS Type git
VCS Version main
Last Updated 2023-04-30
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

CHAMP Core Library

Additional Links

No additional links.

Maintainers

  • Juan Miguel Jimeno

Authors

  • Juan Miguel Jimeno

champ Build Status

ROS Packages for CHAMP Quadruped Controller.

champ

CHAMP is an open source development framework for building new quadrupedal robots and developing new control algorithms. The control framework is based on “Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot”.

Core Features:

  • Fully Autonomous (using ROS navigation Stack).
  • Setup-assistant to configure newly built robots.
  • Collection of pre-configured URDFs like Anymal, MIT Mini Cheetah, Boston Dynamic’s Spot and LittleDog.
  • Gazebo simulation environment.
  • Compatible with DIY quadruped projects like SpotMicroAI and OpenQuadruped.
  • Demo Applications like TOWR and chicken head stabilization.
  • Lightweight C++ header-only library that can run on both SBC and micro-controllers.

Tested on:

  • Ubuntu 16.04 (ROS Kinetic)
  • Ubuntu 18.04 (ROS Melodic)

1. Installation

1.1 Clone and install all dependencies:

sudo apt install -y python-rosdep
cd <your_ws>/src
git clone --recursive https://github.com/chvmp/champ
git clone https://github.com/chvmp/champ_teleop
cd ..
rosdep install --from-paths src --ignore-src -r -y

If you want to use any of the pre-configured robots like Anymal, Mini Cheetah, or Spot, follow the instructions here.

1.2 Build your workspace:

cd <your_ws>
catkin_make
source <your_ws>/devel/setup.bash

2. Quick Start

You don’t need a physical robot to run the following demos. If you’re building a physical robot, you can find out more how to configure and run a new robot in step 3.

2.1 Walking demo in RVIZ:

2.1.1 Run the base driver:

roslaunch champ_config bringup.launch rviz:=true

2.1.2 Run the teleop node:

roslaunch champ_teleop teleop.launch

If you want to use a joystick add joy:=true as an argument.

2.2 SLAM demo:

2.2.1 Run the Gazebo environment:

roslaunch champ_config gazebo.launch 

2.2.2 Run gmapping package and move_base:

roslaunch champ_config slam.launch rviz:=true

To start mapping:

  • Click ‘2D Nav Goal’.
  • Click and drag at the position you want the robot to go.

    champ

  • Save the map by running:

    roscd champ_config/maps
    rosrun map_server map_saver
    

2.3 Autonomous Navigation:

2.3.1 Run the Gazebo environment:

roslaunch champ_config gazebo.launch 

2.3.2 Run amcl and move_base:

roslaunch champ_config navigate.launch rviz:=true

To navigate:

  • Click ‘2D Nav Goal’.
  • Click and drag at the position you want the robot to go.

    champ

3. Running your own robot:

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
catkin

System Dependencies

No direct system dependencies.

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged champ at Robotics Stack Exchange

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Package Summary

Tags No category tags.
Version 0.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description New quadruped robot, working on UP Xtreme board, and BLDC motors from Mjbots
Checkout URI https://github.com/elpimous/ylo-2.git
VCS Type git
VCS Version main
Last Updated 2023-04-30
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

CHAMP Core Library

Additional Links

No additional links.

Maintainers

  • Juan Miguel Jimeno

Authors

  • Juan Miguel Jimeno

champ Build Status

ROS Packages for CHAMP Quadruped Controller.

champ

CHAMP is an open source development framework for building new quadrupedal robots and developing new control algorithms. The control framework is based on “Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot”.

Core Features:

  • Fully Autonomous (using ROS navigation Stack).
  • Setup-assistant to configure newly built robots.
  • Collection of pre-configured URDFs like Anymal, MIT Mini Cheetah, Boston Dynamic’s Spot and LittleDog.
  • Gazebo simulation environment.
  • Compatible with DIY quadruped projects like SpotMicroAI and OpenQuadruped.
  • Demo Applications like TOWR and chicken head stabilization.
  • Lightweight C++ header-only library that can run on both SBC and micro-controllers.

Tested on:

  • Ubuntu 16.04 (ROS Kinetic)
  • Ubuntu 18.04 (ROS Melodic)

1. Installation

1.1 Clone and install all dependencies:

sudo apt install -y python-rosdep
cd <your_ws>/src
git clone --recursive https://github.com/chvmp/champ
git clone https://github.com/chvmp/champ_teleop
cd ..
rosdep install --from-paths src --ignore-src -r -y

If you want to use any of the pre-configured robots like Anymal, Mini Cheetah, or Spot, follow the instructions here.

1.2 Build your workspace:

cd <your_ws>
catkin_make
source <your_ws>/devel/setup.bash

2. Quick Start

You don’t need a physical robot to run the following demos. If you’re building a physical robot, you can find out more how to configure and run a new robot in step 3.

2.1 Walking demo in RVIZ:

2.1.1 Run the base driver:

roslaunch champ_config bringup.launch rviz:=true

2.1.2 Run the teleop node:

roslaunch champ_teleop teleop.launch

If you want to use a joystick add joy:=true as an argument.

2.2 SLAM demo:

2.2.1 Run the Gazebo environment:

roslaunch champ_config gazebo.launch 

2.2.2 Run gmapping package and move_base:

roslaunch champ_config slam.launch rviz:=true

To start mapping:

  • Click ‘2D Nav Goal’.
  • Click and drag at the position you want the robot to go.

    champ

  • Save the map by running:

    roscd champ_config/maps
    rosrun map_server map_saver
    

2.3 Autonomous Navigation:

2.3.1 Run the Gazebo environment:

roslaunch champ_config gazebo.launch 

2.3.2 Run amcl and move_base:

roslaunch champ_config navigate.launch rviz:=true

To navigate:

  • Click ‘2D Nav Goal’.
  • Click and drag at the position you want the robot to go.

    champ

3. Running your own robot:

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
catkin

System Dependencies

No direct system dependencies.

Launch files

Services

No service files found

Plugins

No plugins found.

Recent questions tagged champ at Robotics Stack Exchange