ASCC2022 - Eungchang Mason Lee, Jinwoo Jeon, and Hyun Myung "TROT-Q: TRaversability and Obstacle aware Target tracking system for Quadruped robots"
- Tracking detected target (
YOLOv4-tiny-3l network is used)
FAST-LIO2 SLAM is used to estimate the states- Traversability and obstacle collision are checked
- Minimum Jerk Trajectory is tracked
- High-level velocity MPC control
- Low-level PID control
OpenCV version >= 4.4.0cv_bridge- ROS and Gazebo
- refer here
$ sudo apt install ros-<distro>-desktop-full
- Dependencies
$ sudo apt install ros-melodic-gazebo-plugins ros-melodic-ros-control ros-melodic-ros-controllers
$ wget -O ubuntu.sh https://raw.githubusercontent.com/PX4/PX4-Autopilot/master/Tools/setup/ubuntu.sh
$ source ubuntu.sh
$ sudo apt upgrade libignition-math4
$ cd ~/your_workspace/src
$ git clone --recursive https://github.com/engcang/ascc2022
$ cd ascc2022/gazebo_maps
$ tar -xf height_maze.tar.xz
$ tar -xf common_models.tar.xz
$ cd ..
$ echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(pwd)/gazebo_maps/height_maze:$(pwd)/gazebo_maps/common_models" >> ~/.bashrc
$ . ~/.bashrc
$ cd ~/your_workspace
$ catkin build -DCMAKE_BUILD_TYPE=Release
- Launch Gazebo world
- Change
world in the launch file, if you want.
- Check
dev of joystick to manually control Jackal in the launch file.
$ roslaunch trot-q gazebo.launch
$ roslaunch trot-q main.launch
ANYMAL-B Gazebo model from here
- Many unnecessary files are trimmed
Champ quadruped robot controller from here- Gazebo map, made by myself from here
- Gazebo Jackal Gazebo model from here
- Many unnecessary files are trimmed
- Gazebo Ouster - referred here1 and here2
- Many unnecessary files are trimmed
- GPU-ray is enabled as here
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