ROS package for quadruped robot PupBot.

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• Dynamixel AX-12A (×12)
• OpenCR1.0 (×1)
• Raspberry Pi 4 Model B (×1)
• LIPO Battery 11.1V 1,800mAh (×1)
• 3P Extension PCB (×1)

The posture control feature provides a stable gait on sloping terrain. This algorithm plays an important role in stabilizing the robot body during gait by dynamically controlling the toe position based on the filtered roll and pitch angles.

$ cd ~/catkin_ws/src
$ git clone -b noetic-devel https://github.com/Alpaca-zip/pupbot.git
$ wstool merge pupbot/pupbot.rosinstall
$ wstool update
$ cd ~/catkin_ws
$ rosdep install -r -y -i --from-paths .
$ catkin build

$ roslaunch pupbot pupbot_simulation.launch debug:=true

It is helpful to see pupbot_bringup.launch to get an understanding of how the robot works on the actual machine.