Rotation-aware Traversability Path Planning

This repository is based on the Legged Locomotion Library (L3). It extends L3 in the following ways:

• Plugins that consider traversability during path planning
• Configs allowing the use of Boston Dynamics' Spot in L3
• Conversion of resulting L3 step plans into Follow Path Actions

Requirements

This repository is tested under Ubuntu 20.04 and ROS Noetic.

Installation

Clone this repository into your workspace. It includes the dependencies.rosinstall which contains all necessary dependencies, which can be merged using the wstool merge command. Finally, build your workspace and everything should be ready.

Usage

You can start the path planner with the following command:

roslaunch spot_l3_footstep_planning main.launch

It is also possible to start RViz if you change the command to:

roslaunch spot_l3_footstep_planning main.launch rviz:=true

For the planner to work as intended, make sure that a traversability map of the Grid Map Library is being published, which is needed for the traversability calculations of the planner.

There are two ways to start the planning process:

• If RViz is running it is possible to use shortcut 'g' to drag a goal pose on the grid.

• Use the command

  roslaunch spot_l3_footstep_planning goal_publisher.launch
  

  which has the following optional arguments to specify position and orientation of the goal pose: frame_id, pos_x, pos_y, pos_z, ori_x, ori_y, ori_z, ori_w.