quadquad:基于ROS的四足机器人控制系统。-源码

上传者: 42102713 | 上传时间: 2021-09-25 17:33:55 | 文件大小: 79KB | 文件类型: ZIP
四元组 这是用于在Raspberry Pi上运行的四足机器人的基于ROS的控制器。 有步态发生器,单眼视觉测距仪,稀疏的SLAM(进行中)和用于机器人本身的模拟器。 该机器人最终将具有机器学习系统的集成元素。 步态和路径规划将受不同的ML算法影响。 要求 我使用的ubuntu Mate可以直接安装在树莓派上。 从那里使用'sudo apt-get install ros-kinetic-desktop-full'安装ROS dynamic 这将下载ROS和该项目所需的所有依赖项。 跑步 可以通过调用“ roslaunch quadquad_gazebo basicworld.launch”来运行模拟器 步态控制器可以通过调用“ python /path/to/gait_controller.py”来运行 视觉里程表(自我运动)和SLAM可以通过调用“ rosrun quadquad_v

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