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.
Install
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 ..
catkin_make
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
Usage
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
Citation
If you use this work in an academic context, please cite the currently released version 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.