This is the branch for ROS2; use the ros1 branch for ROS1.
Humanoid footstep planner based on baseline methods with graph search
- Compiler supporting C++17
- Tested on
Ubuntu 22.04 / ROS Humble
This package depends on
It is assumed that ROS is installed.
- 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- Install dependent packages.
$ source /opt/ros/${ROS_DISTRO}/setup.bash
$ rosdep install -y -r --from-paths src --ignore-src- 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$ ros2 launch baseline_footstep_planner footstep_planner.launch.py
BaselineFootstepPlanner-20220831.mp4
$ ros2 run baseline_footstep_planner TestFootstepPlanner
The footstep planner in this library is available in the humanoid controller BaselineWalkingController.