zlingkang / xpp

Visualization of Motions for Legged Robots in ros-rviz

Home Page:http://wiki.ros.org/xpp

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Xpp is a ROS package for the visualization of motion-plans for legged robots. It draws support areas, contact forces and motion trajectories in RVIZ and displays URDFs for specific robots, including a one-legged, a two-legged hopper and HyQ. More example motions can be seen in this video, generated by the library towr.

by 🌐 Alexander W. Winkler



This package has the following dependencies:

Name Min. Ver. Description Install
ROS indigo catkin, roscpp, ... sudo apt-get install ros-<ros-distro>-desktop-full
Eigen v3.2.0 Library for linear algebra sudo apt-get install libeigen3-dev

This package in part of the ROS debians, so you can directly run

sudo apt-get install ros-<ros_distro>-xpp

If you want to build this package from source to make your own modifications, execute

cd catkin_workspace/src
git clone https://github.com/leggedrobotics/xpp.git
cd ..
source ./devel/setup.bash

Unit Tests

Make sure everything installed correctly by running the unit tests through

$ catkin_make run_tests

or if you are using catkin tools.

$ catkin build xpp_vis --no-deps --verbose --catkin-make-args run_tests


A few examples for different robots are provided in the xpp_examples package, e.g. xpp_examples/src/monoped_pub.cc. For starters, run

$ roslaunch xpp_examples hyq_bag.launch  // or any other launch file in this package


If you use this work in an academic context, please cite the currently released version DOI as shown here.

Bugs & Feature Requests

Please report bugs, request features or ask questions using the Issue Tracker. In case you want to contribute your own robot URDF, add the URDF + inverse kinematics function and create a PR.


Visualization of Motions for Legged Robots in ros-rviz


License:BSD 3-Clause "New" or "Revised" License


Language:C++ 94.5%Language:CMake 5.5%