├── .gitignore ├── LICENSE ├── README.md ├── UI ├── __pycache__ │ └── controller_window.cpython-310.pyc ├── controller.py └── controller_window.py ├── bruno ├── CMakeLists.txt ├── bruno_ik.py ├── config │ └── control.yaml ├── launch │ ├── debug.launch.py │ ├── display.launch.py │ ├── gazebo.launch.py │ ├── robot_description_publisher.py │ └── spawn_robot_ros2.launch.py ├── meshes │ ├── base_link.STL │ ├── bl_leg_link.STL │ ├── bl_shin_link.STL │ ├── bl_thigh_link.STL │ ├── br_leg_link.STL │ ├── br_shin_link.STL │ ├── br_thigh_link.STL │ ├── fl_leg_link.STL │ ├── fl_shin_link.STL │ ├── fl_thigh_link.STL │ ├── fr_leg_link.STL │ ├── fr_shin_link.STL │ ├── fr_thigh_link.STL │ └── lidar_link.STL ├── package.xml ├── readme.md ├── rviz │ └── display_default.rviz ├── src │ └── teleop.py ├── urdf │ ├── bruno.csv │ └── bruno.urdf.xacro └── worlds │ └── empty_world.world ├── bruno_controller ├── CMakeLists.txt ├── include │ └── bruno_controller │ │ ├── CrawlGaitController.hpp │ │ ├── GaitController.hpp │ │ ├── InverseKinematics.hpp │ │ ├── PIDController.hpp │ │ ├── RestController.hpp │ │ ├── RobotController.hpp │ │ ├── StandController.hpp │ │ ├── StateCommand.hpp │ │ ├── Transformations.hpp │ │ └── TrotGaitController.hpp ├── launch │ └── robot_controller.launch ├── package.xml └── src │ ├── InverseKinematics │ └── InverseKinematics.cpp │ ├── RobotController │ ├── CrawlGaitController.cpp │ ├── GaitController.cpp │ ├── PIDController.cpp │ ├── RestController.cpp │ ├── RobotController.cpp │ ├── StandController.cpp │ └── TrotGaitController.cpp │ ├── RoboticsUtilities │ └── Transformations.cpp │ └── main.cpp ├── bruno_ik.py ├── images ├── bruno_gazebo.png ├── bruno_lidar.png └── bruno_rviz.png ├── joypad ├── CMakeLists.txt ├── launch │ ├── ramped_joypad.launch │ └── ramped_joystick.launch ├── package.xml └── src │ └── ramped_joypad.py └── odometry ├── CMakeLists.txt ├── include └── odometry │ └── odometry_plugin.hpp ├── package.xml └── src └── odometry_plugin.cpp 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