baseline_footstep_planner Documentation

This is the branch for ROS2; use the ros1 branch for ROS1.

BaselineFootstepPlanner

Humanoid footstep planner based on baseline methods with graph search

Install

Requirements

• Compiler supporting C++17
• Tested on Ubuntu 22.04 / ROS Humble

Dependencies

This package depends on

• SBPL

Installation procedure

It is assumed that ROS is installed.

1. Setup colcon workspace.

   $ mkdir -p ~/ros/ws_bfp/src
   $ cd ~/ros/ws_bfp
   $ wstool init src
   $ wstool set -t src isri-aist/BaselineFootstepPlanner git@github.com:isri-aist/BaselineFootstepPlanner.git --git -y
   $ wstool update -t src

2. Install dependent packages.

   $ source /opt/ros/${ROS_DISTRO}/setup.bash
   $ rosdep install -y -r --from-paths src --ignore-src

3. Build a package.

   $ colcon build --packages-select baseline_footstep_planner --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DAMENT_CMAKE_UNINSTALL_TARGET=OFF -DUSE_ROS2=ON 
   $ colcon test --packages-select baseline_footstep_planner
   $ colcon test-result --all --verbose

Examples

Interactive planning

$ ros2 launch baseline_footstep_planner footstep_planner.launch.py

https://user-images.githubusercontent.com/6636600/187672008-fb93fb0e-5ec0-4054-a31d-68ce6c884005.mp4

Standalone planning

$ ros2 run baseline_footstep_planner TestFootstepPlanner

Integration into controller

The footstep planner in this library is available in the humanoid controller BaselineWalkingController.