PETcat_motion

Motion and Trajectory Planning for PETCat, the long term project.

Cloning and Setting Up Files

1. Fork the repo on GitHub

Use the button at the top right.

2. Clone the project to your own machine

git clone https://github.com/${your_username_here}/PETcat_motion

3. Setup and Build files

• Place the contents of the python/ directory in your catkin workspace. Navigate to the top-level repo directory and:

cp -r ./python/* ~/catkin_ws/src

• Add the executable for python script

cd ~/catkin_ws/src/motion/src
sudo chmod +x billi.py  ## or name any other python file

• Build files

cd ../..
catkin build
source ~/catkin_ws/devel/setup.bash

Running Stick Model Quadruped

Go to the folder containing billi.py file

cd ~/catkin_ws/src/motion/src
python3 billi.py

Running Champ Simulation

Running Champ simulator with native controller

roslaunch champ_config gazebo.launch

Running Champ Simulator with custom controller

roslaunch champ_config gazebo.launch custom:=true

Contribution Guidelines

1. Commit changes to your own branch on your fork:

Create a new branch by

git checkout -b ${your_branch_name}

2. Push your work back up to your fork:

Navigate to the top-level repo directory and:

git add .
git commit -m "Explanative commit message"
git push origin ${your_branch_name} 

3. Submit a Pull request so that we can review your changes:

Create a new pull request from the Pull Requests tab on this repo, not the fork.

Request reviews from at least two people.