🧭 MUSE

This repository contains the ROS package muse_ros, part of the MUSE (Multi-sensor State Estimator) project of the DLS (Dynamic Legged Systems lab) state estimator.

The muse_ros package provides a ROS node and utilities for estimating the state of a quadruped robot using sensor data. It includes algorithms for state estimation, sensor fusion, and filtering.

The source code will be available after the paper's review process is finished.

⚠️ REPOSITORY UNDER DEVELOPMENT ⚠️

The code will be available soon! TODO list at the end of the page

🦖 Prerequisites

• ROS Noetic (but it should be compatible with the other ROS versions)
• Eigen

🛠️ Building

To install the muse_ros package, follow these steps:

1. Clone this repository to your ROS workspace:

   git clone git@github.com:iit-DLSLab/MUSE.git
   

2. Build the package using catkin_make:

   cd muse_ros/muse_ws
   source devel/setup.bash
   catkin_make -j$(proc) install
   

📜 TODO list

• Code
• Dockerization
• Support for ROS2

🤗 Contributing

Contributions to this repository are welcome.