Demos

Once you have conquered the HelloWorld example, either in simulation or in real environment, you should start looking at other demo examples. Each demo’s name is formed of multiple words that are joined together to clearly hint what it does. These words are separating using “_” (underscore). Each demo’s name begins with a word demo_, followed by two or three keywords. We encourage you to explore and make changes to these demos.

demo_trot_velocity

This demo shows the trotting gait of a quadruped robot on a flat ground. Through controlling the forward linear speed and rotating speed of the body or a quadruped robot, the body’s trajectory and the supporting foot’s position are computed using LocomotionMode::VELOCITY_LOCOMOTION for the next gait cycle.

demo_trot_velocity_mpc

This demo shows the trotting gait of a quadruped robot on a flat ground. Through controlling the forward linear speed and rotating speed of the body or a quadruped robot, the body’s trajectory and the supporting foot’s position are computed using LocomotionMode::VELOCITY_LOCOMOTION for the next gait cycle. Here, model predictive control (MPC) technique is used.

demo_trot_position

This demo shows the trotting gait of a quadruped robot on a flat ground. Through solving inverse kinematics, the body keeps balanced and the joint angles (by inverse kinematics) or torques (by inverse dyanmics) are computed using LocomotionMode::POSITION_LOCOMOTION.

demo_trot_keyboard

This demo shows the trotting gait of a quadruped robot on a flat ground. You can use a keyboard to control the forward speed and rotating speed.

demo_trot_joystick

This demo shows the trotting gait of a quadruped robot on a flat ground. You can use a game joystick to control the forward speed and rotating speed.

demo_external_force

This demo shows how to apply external forces to a moving robot. Start this program when another demo has already started.

demo_slam_publish_odom

This demo shows how to pulish odemetry data.

demo_slam_gmapping

This demo shows how to build a map using SLAM and gmapping.

demo_slam_cartographer

This demo shows how to build a map using SLAM and cartographer.

demo_terrain_slope

This demo shows how to travel onto a slope.

demo_terrain_stair

This demo shows how to travel onto stairs.

demo_terrain_rough

This demo shows how to travel in a rough ground.

demo_terrain_groove

This demo shows how to walk inside a groove.