Static Walking

Static Walking#

It starts an action that allows the robot to walk quasi-statically. In this walking pattern, the robot is always inside the support polygon.

Kangaroo walking

First the DCM Controller needs to be started.. Then to start the static walking run:

roslaunch pal_locomotion push_action.launch action:=pal_locomotion::StaticWalkAction

The interface receives velocity commands through the topic /biped_walking_dcm_controller/cmd_vel and the action interpolates to generate the footsteps and the desired COM and swing trajectories.

One option is to use the RobotSteering GUI to send those commands.

roslaunch talos_pal_locomotion rqt_talos_steering.launch

CAUTION

This is not yet fully integrated with the robot and is currently only working in simulation.
This limitation will be addressed in a future release.