HCDR (ROS Ver. Noetic)

1. clone to your workspace.

source /opt/ros/noetic/setup.bash
mkdir -p your_ws/src
git clone https://github.com/cold-deuu/HCDR_HQP.git

2. catkin_make

cd your_ws
catkin_make
source devel/setup.bash

Prerequisites

1. Ubuntu and ROS Ubuntu 64-bit 20.04. : ROS-Noetic-Install

2. Pinocchio (Kinematic-Dynamic-Solver) : Pinocchio-Install

3. Eigen : Eigen-Install

4. Gazebo : Gazebo-Install

Server

roslaunch cdpr_controller cdpr_pid_qp.launch

Client

roscd cdpr_controller/scripts
python3 cdpr_client.py