Fast Legged Trajectory Planner

Note

This repo contains codes for paper KCFRC: Kinematic Collision-Aware Foothold Reachability Criteria for Legged Locomotion.

Installation

Clone the repository:

# Under catkin_ws
git clone --recursive https://github.com/MasterYip/FLTPlanner.git
mv FLTPlanner src
cd src
git submodule update --init --recursive

Install apt dependencies:

sudo apt install \
ros-$ROS_DISTRO-ros-industrial-cmake-boilerplate \
ros-$ROS_DISTRO-costmap-2d \
libglpk-dev

Install cddlib manually:

# Under catkin_ws/src
cd ./legged_traj_planner/third_party
tar -xvf cddlib-0.94m.tar.gz
cd cddlib-0.94m
./configure
make
sudo make install

Build the package:

# Under catkin_ws/src
catkin build legged_traj_plan_examples legged_traj_search_examples hexapod_robot_assets -DCMAKE_BUILD_TYPE=Release
source ../devel/setup.bash

Get Started

MCTS Contact Planner Examples

Perform foothold reachability checks and trajectory optimization using recorded contact sequences or MCTS planner.

roslaunch legged_traj_plan_examples elspider_air_state_sequence_planner.launch \
robot_interface_type:=ElSpiderAirDummy \
sim:=true \
teleop_type:=keyboard \
demo_name:=4_ushape_barrier \
planner_cfg:=flt_cfg_planner_conv

Demos: 1_stairs, 2_stairs, 3_quincuncial_piles, 4_barrier, 4_ushape_barrier, 5_channel, 6_fractal

Planners: flt_cfg_planner_keypoint(KCFRC keypoint), flt_cfg_planner_conv(KCFRC conv), rrt_cfg_planner, stomp_cfg_planner, fec_planner

More configs can be found in:

• Launch Settings (Demos and Planners)
• State Sequence Planner Configs
• Swing Trajectory Planner Configs: In folder ./legged_traj_planner/legged_traj_plan/config/swing_traj_planner

Robot Control:

• arrow up: Move forward
• arrow down: Move backward(not recommended)
• arrow left: Turn left(not recommended)
• arrow right: Turn right(not recommended)

You can publish geometry_msgs/Twist to /cmd_vel to control the robot too.

Raibert Heuristic Planner Examples

Perform trajectory optimization using Raibert heuristic planner.

roslaunch legged_traj_plan_examples elspider_air_raibert_planner.launch \
robot_interface_type:=ElSpiderAirDummy \
sim:=true \
teleop_type:=PS5

roslaunch legged_traj_plan_examples elspider_air_simple_raibert_planner.launch \
robot_interface_type:=ElSpiderAirDummy \
sim:=true \
teleop_type:=PS5

Use Joystick to control the robot.

Misc Examples

Examples for algorithm illustration.

Example List:

• eg_guide_surface_demo
• eg_convoluted_guide_surface_demo
• eg_keypoint_guide_surface_demo
• eg_gcs_barrier_demo
• eg_gcs_barrier_ani_demo
• eg_gcs_rand_corridor_demo
• eg_gcs_rand_map_demo

roslaunch legged_traj_search_examples gcs_example.launch \
example_name:=eg_gcs_barrier_ani_demo