BaselineFootstepPlanner

Humanoid footstep planner based on baseline methods with graph search

Install

Requirements

• Compiler supporting C++17
• Tested on Ubuntu 20.04 / ROS Noetic and Ubuntu 18.04 / ROS Melodic

Dependencies

This package depends on

• SBPL (automatically installed by rosdep install)

Installation procedure

It is assumed that ROS is installed.

1. Setup catkin 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.

   $ catkin build baseline_footstep_planner -DCMAKE_BUILD_TYPE=RelWithDebInfo --catkin-make-args all tests

Examples

Make sure that it is built with --catkin-make-args tests option.

Interactive planning

$ roslaunch baseline_footstep_planner footstep_planner.launch

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

Standalone planning

$ rosrun baseline_footstep_planner TestFootstepPlanner

Integration into controller

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