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Mini-Cheetah-ROS

In order to use this code, you shoud go through next steps:

cd catkin_ws/src
git clone https://github.com/Terminateit/Mini-Cheetah-ROS.git
cd ..
catkin_make
source devel/setup.bash

And here we are ready!

  • If you want just to see the model:
roslaunch cheetah_show cheetah_gazebo.launch
  • Position control:
roslaunch cheetah_control cheetah_control_position.launch
  • Current control:
roslaunch cheetah_control cheetah_control_current.launch
  • Velocity Control:
roslaunch cheetah_control cheetah_control_velocity.launch

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MIT Mini Cheetah Implementation in ROS

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