Installation

Installing ROS

You need install ROS (Robot Operating System) first. We tested the codes under Ubuntu Linux and ROS 1 Melodic Morenia distribution. Other newer ROS distributions are supposed to be supported. Please visit http://www.wiki.ros.org for ROS installation.

Cloning the source code.

cd ${your_workspace}
mkdir src
cd ${your_workspace}/src
catkin_init_workspace
git clone https://github.com/TopHillRobotics/quadruped-robot/

Installing the following third party dependencies.

Eigen3
yaml-cpp
lcm
Quadprogpp
ros

sudo apt install libyaml-cpp-dev
sudo apt install libeigen3-dev
sudo apt install liblcm-dev
sudo apt install libglm-dev

Building the codes.

Make sure your cmake version is 3.15.7 or higher

cd ${your_workspace}
catkin_make

Run source devel/setup.bash before launching the project.