legged_robot

ROS package; legged robot urdf and plugin
based on https://demura.net/lecture/11554.html

on gazebo

Tested on Gazebo 9.0 and ROS melodic

• plugin: gazebo_ros_legged_robot.so
• control_node: trot(incomplete)

this repository includes these launch:

• rviz.launch
• gazebo.launch

Try as follows:

roslaunch legged_robot display.launch

or

roslaunch legged_robot gazebo.launch
rosrun legged_robot trot_control_node

check joints and links on rviz

on pybullet

on going...