Fast-Planner
towr
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| Fast-Planner | towr | |
|---|---|---|
| 1 | 1 | |
| 2,181 | 836 | |
| 3.6% | 3.0% | |
| 3.2 | 0.0 | |
| 4 months ago | about 1 year ago | |
| C++ | C++ | |
| GNU General Public License v3.0 only | BSD 3-clause "New" or "Revised" License |
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Fast-Planner
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I need a simple simulation of a drone where I can have some in flight control and also can get real time sensor values.
hector_quadrotor is the "go-to" sim environment for drone tasks, but it is not the most well-maintained framework. The HKUST group recently published some interesting work at ICRA2020. It appears they built their own simulator to design and test their algorithms. Might be worth looking into.
towr
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How to implement gait correction in my biped
If you're open to libraries, you can take a look at TOWR https://github.com/ethz-adrl/towr which does trajectory optimization and is fast enough to use in real-time.
What are some alternatives?
rotors_simulator - RotorS is a UAV gazebo simulator
champ - MIT Cheetah I Implementation
Fast_RRT-ROS - RRT-ROS implementation.
AIKIDO - Artificial Intelligence for Kinematics, Dynamics, and Optimization
OpenCat - An open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development.
rosflight_ros_pkgs - ROS packages for the ROSflight autopilot
DroneDB - Free and open source software for aerial data storage.
ifopt - An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)
CppRobotics - Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!
popi_project - Here is everything you need to know about POPI, our open-source quadruped robot. If you want to check the videos we will release about it, you can have a look at our YouTube channel.