mr-y-b-l / unitreempc_guide

The main contribution of this project is to add an MPC controller to the official unitree_guide project, making it easier for students learning model-based control of quadruped robots to get started.（本项目主要贡献为在宇树官方项目unitree_guide中加入MPC控制器，便于入门四足机器人基于模型控制的同学学习。）

Overview

The main contribution of this project is to add an MPC controller to the official unitree_guide project, making it easier for students learning model-based control of quadruped robots to get started.(本项目主要贡献为在宇树官方项目unitree_guide中加入MPC控制器，便于入门四足机器人基于模型控制的同学学习。)

If my project is helpful for your learning, please light up a "Star" for me.(如果我的项目对您的学习有所帮助，请为我点亮一颗“星星”。)

quick start

environment

1. Ubuntu 20.04
2. ROS Neotic

build

Please refer to Unitree official configuration for dependencies.

1. unitree_guide
   
2. unitree_ros
   
3. unitree_legged_msgs

Clone this project

git clone [email protected]:Mr-Y-B-L/unitreeMPC_guide.git

Build

cd unitreeMPC_guide/

catkin_make

Running

source ./devel/setup.bash

Start Gazebo

roslaunch unitreeMPC_guide gazeboSim.launch

Start MPC controller

./devel/lib/unitreeMPC_guide/junior_ctrl

Acknowledgments

A1-QP-MPC-Controller