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Humanoid Navigation

Reference : http://wiki.ros.org/humanoid_navigation Source : https://github.com/AravindaDP/humanoid_navigation

Prerequisite Packages

• map_server
• humanoid_nav_msgs
• nav_msgs
• sbpl
• etc

Package for footstep planner.

• Installation prerequisite packages

  $ sudo apt-get install ros-kinetic-map-server
  $ sudo apt-get install ros-kinetic-humanoid-nav-msgs
  $ sudo apt-get install ros-kinetic-nav-msgs
  $ sudo apt-get install ros-kinetic-octomap
  $ sudo apt-get install ros-kinetic-octomap-msgs
  $ sudo apt-get install ros-kinetic-octomap-ros
  $ sudo apt-get install ros-kinetic-octomap-server
  

• Installation library from sources

  • sbpl

    Reference : https://github.com/sbpl/sbpl

• Installation humanoid_navigation

  $ cd ~/catkin_ws/src
  $ git clone https://github.com/AravindaDP/humanoid_navigation.git
  $ cd ~/catkin_ws
  

footstep_planner

Overview

The footstep planner for humanoids or bipedal robots.

Reference : http://wiki.ros.org/footstep_planner

Getting started

1. RUN

   $ roslaunch footstep_planner thormang3_footstep_planner.launch
   

2. Configurations
   • config/footsteps_thormang3.yaml : Footstep configuration of THORMANG3
   • config/planning_params_thormang3.yaml
   • config/planning_params.yaml : Configuration of planner parameters

gridmap_2d

Reference : http://wiki.ros.org/gridmap_2d

humanoid_localization

Reference : http://wiki.ros.org/humanoid_localization