Navigation with a Quadruped robot

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Hi! You could check the "Develop" section of the Readme file at https://github.com/ethz-adrl/towr#dev..., specifically the "Add your own Robot" might be helpful.

On a high level, once you have towr installed and running, you can adapt parameters like the mass, range of motion and other parameters to match your robot. The produced motion plans, sent out through a ROS message, specify the body and endeffector positions over time. You can use xpp to visualize the joint angles, or apply Inverse Kinematics yourself.

Hope this helps. It will require some diving into the source code for your though. I might get around making a more detailed tutorial soon (I'm the author of towr).

Cheers, Alex