This repository contains the software that can be used to control the ANYmal model in the DARPA Subterranean Challenge Virtual Competition Simulator.
Authors & Maintainers:
- Samuel Zimmermann
- Marco Tranzatto
- Timon Homberger
Affiliation: Robotic Systems Lab - ETH Zurich
This software is released under a BSD 3-Clause license.
If you use this work in an academic context, please cite the following publications:
Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun and Marco Hutter "Learning quadrupedal locomotion over challenging terrain", in Science Robotics, 21.10, 2020 (DOI)
@article{Leeeabc5986,
author = {Lee, Joonho and Hwangbo, Jemin and Wellhausen, Lorenz and Koltun, Vladlen and Hutter, Marco},
title = {Learning quadrupedal locomotion over challenging terrain},
volume = {5},
number = {47},
elocation-id = {eabc5986},
year = {2020},
doi = {10.1126/scirobotics.abc5986},
publisher = {Science Robotics},
URL = {https://robotics.sciencemag.org/content/5/47/eabc5986},
eprint = {https://robotics.sciencemag.org/content/5/47/eabc5986.full.pdf},
journal = {Science Robotics}
}
The following dependencies are needed to run the ANYmal locomotion controller.
- catkin workspace setup for the SubT (Ignition) Simulation. See SubT (Ignition) Simulation.
- catkin_tools package. See catkin_tools.
Create the anymal_locomotion_ws workspace and clone the cerberus_anymal_locomotion repo:
mkdir -p ~/anymal_locomotion_ws/src && cd ~/anymal_locomotion_ws/src
git clone git@github.com:leggedrobotics/cerberus_anymal_locomotion.git # or over https: git clone https://github.com/leggedrobotics/cerberus_anymal_locomotion.git
cd cerberus_anymal_locomotion/
git submodule update --init --recursive
Configure and build the workspace. We need to overlay the subt_ws workspace because of protobuf version mismatch between one of our dependencies (tensorflow-cpp) and the version used by Ignition Gazebo. Furthermore we build in Release mode.
source /opt/ros/melodic/setup.bash
cd ~/anymal_locomotion_ws/
catkin config --extend ~/subt_ws/install/
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
Build and launch the locomotion controller for ANYmal B:
catkin build cerberus_anymal_b_control_1
source ~/anymal_locomotion_ws/devel/setup.bash
roslaunch cerberus_anymal_b_control_1 cerberus_anymal_controller.launch
Build and launch the locomotion controller for ANYmal C:
catkin build cerberus_anymal_c_control_1
source ~/anymal_locomotion_ws/devel/setup.bash
roslaunch cerberus_anymal_c_control_1 cerberus_anymal_controller.launch
Please report bugs or issues using the Issue Tracker.