├── README.md ├── aliengo_control ├── CMakeLists.txt ├── include │ ├── aliengo_control │ │ ├── aliengo_control.h │ │ └── aliengo_low_level.h │ └── unitree_legged_sdk │ │ ├── a1_const.h │ │ ├── aliengo_const.h │ │ ├── comm.h │ │ ├── lcm.h │ │ ├── loop.h │ │ ├── quadruped.h │ │ ├── safety.h │ │ ├── udp.h │ │ ├── unitree_joystick.h │ │ └── unitree_legged_sdk.h ├── lib │ ├── libunitree_legged_sdk.so │ ├── libunitree_legged_sdk_arm.so │ └── libunitree_legged_sdk_x86.so ├── package.xml └── src │ ├── aliengo_control.cpp │ ├── aliengo_control_node.cpp │ ├── aliengo_low_level.cpp │ └── aliengo_low_level_node.cpp ├── cheetah_msgs ├── CMakeLists.txt ├── msg │ ├── ArmState.msg │ ├── FeetCmd.msg │ ├── JoyCmd.msg │ ├── LegContact.msg │ ├── LegPrefix.msg │ ├── LegsCmd.msg │ ├── LegsState.msg │ └── MotorState.msg └── package.xml ├── doc └── system.jpg ├── kf_estimator ├── CMakeLists.txt ├── cfg │ └── rviz.rviz ├── include │ └── kf_estimator │ │ ├── dog_type.h │ │ ├── kf_estimator.h │ │ ├── robot_math.h │ │ ├── state_estimate.h │ │ └── terrain_estimator.h ├── launch │ ├── LegSlam_bringup.launch │ └── rviz.launch ├── package.xml └── src │ ├── debug_test.cpp │ ├── kf_estimator.cpp │ ├── kf_estimator_node.cpp │ ├── state_estimate.cpp │ └── terrain_estimator.cpp └── unitree_description ├── CMakeLists.txt ├── launch └── check_joint.launch ├── meshes ├── a1 │ ├── calf.dae │ ├── hip.dae │ ├── thigh.dae │ ├── thigh_mirror.dae │ ├── trunk.dae │ └── trunk_A1.png └── aliengo │ ├── calf.dae │ ├── hip.dae │ ├── thigh.dae │ ├── thigh_mirror.dae │ ├── trunk.dae │ └── trunk_uv_base_final.png ├── package.xml └── urdf ├── a1 └── const.xacro ├── aliengo └── const.xacro ├── common ├── gazebo.xacro ├── imu.xacro ├── leg.xacro ├── materials.xacro └── transmission.xacro └── robot.xacro /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/skywoodsz/Quadruped-State-Estimation/HEAD/README.md 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