├── .gitignore ├── README.md ├── configs ├── a1_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── aliengo_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── anymal_b_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── anymal_c_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── astro_config │ ├── CMakeLists.txt │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ └── navigation │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── include │ │ │ ├── navigation │ │ │ │ ├── amcl.launch │ │ │ │ └── move_base.launch │ │ │ └── slam │ │ │ │ ├── gmapping.launch │ │ │ │ ├── hector_mapping.launch │ │ │ │ └── octomap.launch │ │ ├── navigate.launch │ │ └── slam.launch │ ├── maps │ │ ├── map.pgm │ │ ├── map.yaml │ │ ├── octomap.ot │ │ ├── octomap.pgm │ │ └── octomap.yaml │ ├── package.xml │ ├── setup.bash │ └── urdf │ │ └── quadruped.urdf ├── bruno_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ ├── urdf │ │ └── quadruped.urdf │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── dkitty_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── dream_walker_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── go1_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ ├── outdoor.world │ │ └── playground.world ├── littledog_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── mini_cheetah_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── mini_pupper_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── open_quadruped_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── opendog_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── spot_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── spotmicro_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ ├── hardware.yaml │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── position_controllers.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world ├── stanford_pupper_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ │ ├── gait │ │ │ └── gait.yaml │ │ ├── joints │ │ │ └── joints.yaml │ │ ├── links │ │ │ └── links.yaml │ │ ├── move_base │ │ │ ├── base_local_planner_holonomic_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── move_base_params.yaml │ │ └── ros_control │ │ │ └── ros_control.yaml │ ├── include │ │ ├── gait_config.h │ │ ├── hardware_config.h │ │ └── quadruped_description.h │ ├── launch │ │ ├── bringup.launch │ │ ├── gazebo.launch │ │ ├── include │ │ │ ├── amcl.launch │ │ │ ├── gmapping.launch │ │ │ └── move_base.launch │ │ ├── navigate.launch │ │ ├── slam.launch │ │ └── spawn_robot.launch │ ├── maps │ │ ├── map.pgm │ │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ │ ├── default.world │ │ └── outdoor.world └── stochlite_config │ ├── CMakeLists.txt │ ├── README.md │ ├── config.json │ ├── config │ ├── gait │ │ └── gait.yaml │ ├── joints │ │ └── joints.yaml │ ├── links │ │ └── links.yaml │ ├── move_base │ │ ├── base_local_planner_holonomic_params.yaml │ │ ├── costmap_common_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ └── move_base_params.yaml │ └── ros_control │ │ └── ros_control.yaml │ ├── include │ ├── gait_config.h │ ├── hardware_config.h │ └── quadruped_description.h │ ├── launch │ ├── bringup.launch │ ├── gazebo.launch │ ├── include │ │ ├── amcl.launch │ │ ├── gmapping.launch │ │ └── move_base.launch │ ├── navigate.launch │ ├── slam.launch │ └── spawn_robot.launch │ ├── maps │ ├── map.pgm │ └── map.yaml │ ├── package.xml │ ├── setup.bash │ └── worlds │ ├── default.world │ └── outdoor.world ├── install_descriptions └── update_robots /.gitignore: -------------------------------------------------------------------------------- 1 | descriptions -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chvmp/robots/HEAD/README.md -------------------------------------------------------------------------------- /configs/a1_config/CMakeLists.txt: -------------------------------------------------------------------------------- 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