Quadrupedal Foothold Planner

Auto planning footholds of quadrupedal robots with user specified gait and gait cycles

Overview

Author: Lu Chen
Affiliation: AIRS(CUHK-SZ)
Maintainer: [email protected]

Mapping pipleline

Foothold planning pipleline

Support planning the footholds of many kinds of gaits, such as walk and trot.

Installation

Dependencies

This software is built on the Robotic Operating System (ROS), which needs to be installed first. Additionally, the Quadrupedal Foothold Planner depends on following software:

• Grid Map (grid map library for mobile robots)
  
• Elevation_Mapping (Robot-Centric Elevation Mapping),
  
• Traversability Estimation (Traversability mapping for mobile rough terrain navigation.)
  
• kindr (kinematics and dynamics library for robotics),
  
• kindr_ros (ROS wrapper for kindr),
  
• Point Cloud Library (PCL) (point cloud processing),
  
• Eigen (linear algebra library).
  

Building

In order to install the package, clone the latest version from this repository into your catkin workspace and compile the package using ROS.

cd catkin_workspace/src
git clone https://github.com/lukechencqu/quadrupedal_foothold_planner.git
cd ../
catkin_make

Nodes

Node: foothold_planner_node

Subscribed Topics

• /traversability_estimation/traversability_map (grid_map_msgs/GridMap)
  

Published Topics

• global_footholds (foothold_planner_msgs/GlobalFootholds)
  The planned global footholds.

• global_footholds_marker (visualization_msgs/Marker)
  The global footholds markers for RVIZ visualization.

• RF_search_polygon (geometry_msgs/PolygonStamped)
  The right front foothold search region.

• RH_search_polygon (geometry_msgs/PolygonStamped)
  The right hind foothold search region.

• LH_search_polygon (geometry_msgs/PolygonStamped)
  The left hind foothold search region.

• LF_search_polygon (geometry_msgs/PolygonStamped)
  The left front foothold search region.

Services

• plan_global_footholds (foothold_planner::GlobalFootholdPlan::Request) Call planning global footholds service. User can specify how many gait cycles of footholds to plan.
  

Request:

rosservice call /foothold_planner/plan_global_footholds "gait_cycles: 8"

Response:

footholds: 
  header: 
    seq: 0
    stamp: 
      secs: 0
      nsecs:         0
    frame_id: "odom"
  success: True
  gait_cycles: 8
  gait_cycles_succeed: 8
  footholds: 
    - 
      point: 
        x: 0.371730949127
        y: -0.124499998987
        z: 0.0
      foot_id: 0
      gait_cycle_id: 0
    - 
      point: 
        x: 0.133030961596
        y: -0.124499998987
        z: 0.0
      foot_id: 1
      gait_cycle_id: 0
      
    ...
      
    - 
      point: 
        x: 1.84522620246
        y: 0.124499998987
        z: 0.0
      foot_id: 3
      gait_cycle_id: 7

Node: map_tf

Parameters