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What is relevant ROS packages for walking quadruped?

asked 2018-05-21 01:11:15 -0500

achmad_fathoni gravatar image

I want to design walking quadruped robot with sprawling configuraion using Dynamixel servo. The navigation use SLAM with XV-LiDAR 11 input. I look on the internet and found towr and Moveit! packages seems can handle the kinematic but I am afraid both will overkill because my robot is should be optimized to walk on even surface in a maze. Maybe package with seamless integration with navigation stack, kinematic, and gait will be much better.

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hi there! I am also looking for the same. did you get any solution??

Hari Prasanth gravatar image Hari Prasanth  ( 2018-05-29 23:13:30 -0500 )edit

@Hatty_pcott, Hi! I still working on the navigation until next three months. I think we should work together. Do you mind to share your robot project specs? feel free to contact me at

achmad_fathoni gravatar image achmad_fathoni  ( 2018-05-30 10:08:15 -0500 )edit

So have you try quadruped in moveit or towr? I still have some problems in moveit_setup_assosant and i'm still find some way to display and control quadruped in moveit.thank you for your adviese!

crank gravatar image crank  ( 2018-10-18 01:48:54 -0500 )edit

@crank yes, but I still focus on robot navigation. I will do more research about this package and tell you the result.

achmad_fathoni gravatar image achmad_fathoni  ( 2018-10-23 01:03:56 -0500 )edit

@achmad_fathoni@crank Hey guys, Im working on a quadruped robot too and I have the same question as you, is it better to work with move it or with towr? In any case, do you find a good tutorial that might help me? thanks in advance!

facureyes gravatar image facureyes  ( 2020-02-28 15:00:01 -0500 )edit

did any of you guys find anything? I am currently working on the same.

akashnambiar gravatar image akashnambiar  ( 2020-03-03 11:51:33 -0500 )edit

Your post is not an answer, use comment section instead.

achmad_fathoni gravatar image achmad_fathoni  ( 2020-03-04 21:07:50 -0500 )edit

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answered 2020-03-04 21:09:33 -0500

achmad_fathoni gravatar image

For general leg locomotion gait please check towr package.

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Asked: 2018-05-21 01:11:15 -0500

Seen: 526 times

Last updated: Mar 04 '20