cheetah_sim

quadrupedal robot simulation by ROS and Gazebo

Quick start.

• clone this project to your ros workspace(usually is ~/catkin_ws/src).

cd ~/catkin_ws/src
git clone git@github.com:buenos-dan/cheetah_sim.git

• catkin_make this project.

cd ~/catkin_ws
catkin_make
source ./devel/setup.bash

• use roslaunch to start the simulation.

roslauch cheetah_gazebo cheetah.launch  
roslauch cheetah_control cheetah_control.launch  
rosrun cheetah_core stand_demo.py

if everything goes well. you will see a quadrupeal robot standing on the ground.
more manipulate methods are on the way.

Developers guide

Architecture of this project.

./ros_package

folder	Description
cheetah_description	contains STL files and URDF file
cheetah_gazebo	contains a launch file for using gazebo and spawn the model
cheetah_control	contains a launch file for load joint's plugins
cheetah_core	contains many code snippets such as inverseKinematics,Jacobi,Force control..

./assets

folder	Description
pictures	contains a few of pictures of model and simulation
docs	contains some documents for tutorials