Source Code Structure

You can find the source code at GitHub, including five major directories.

• demo has many demo examples to help users understand the software usage and the project architecture itself.

• extern contains the third-party dependencies to successfully compile and run the code.

• navigation contains the codes for SLAM and navigation.

• quadruped contains the core modules defining robots, state, planner, dynamics and supporting algorithms.

• simulation contains the configuration to run demos in simulation.