WoLF: Whole-body Locomotion Framework for quadruped robots

This repo contains a collection of various gazebo resources and worlds used with WoLF.

Setup

See the documentation here.

How to add a new world

You can simply add a new world in the worlds folder, while the gazebo models can be placed in the models folder if needed.

To launch the world with WoLF:

roslaunch wolf_controller wolf_controller_bringup.launch world_name:=new_world

Worlds

agriculture	building	inspection	maze
obstacle_avoidance	office	park_large	pyramid
ruins	stairs	postoffice	rough_terrain

Note:

To be able to load the new models in gazebo you need to append the path to the GAZEBO_MODEL_PATH, for example:

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(rospack find wolf_gazebo_resources)/models

Legal notes

For the world descriptions all rights belong to their respective owners.