Legged Robotics Workspace 💻

A simplified repository for Legged Robotics Workspace using ROS + Docker. 😎

What is contained in this repository?

• Dockerfiles for some of ROS distros with the needed build instructions.
• Scripts that makes docker a little bit easier.

Docker Images

You can checkout what Docker Images we already have and its level of support/reliability in docs/IMAGES.md.

Quickstart 🚀

Step 0 - Install GIT and Docker

GIT 🌳

sudo apt install -y git

Docker 🐳

We strongly recommend using the installation of docker from this repository: Linux Stuffs.

IMPORTANT FOR NVIDIA's GPU's USERS: There's also a script for installation of NVIDIA CONTAINER TOOLKIT in the Linux Stuffs repository.

Step 1 - Clone this repository

To download this repository with the dependencies repositories use the following command:

git clone https://github.com/leggedrobotics-usp/legged_ws.git

NOTE: If you just have cloned this repository you will need the following steps:

Steps for Noetic (Ubuntu 20.04) [recommended] 👈

Follow the steps in the docs/QUICKSTART_NOETIC.md.

Steps for Melodic (Ubuntu 18.04)

Follow the steps in the docs/QUICKSTART_MELODIC.md.

Steps for Mapping Noetic (Ubuntu 20.04) [needs special hardware]

Follow the steps in the docs/QUICKSTART_NOETIC_MAPPING.md.

FAQ - Frequently Asked Questions ❓

Click here to be redirected to docs/FAQ.md file.

This repository and its users are thankful to

Lucas Maggi https://github.com/lomcin	Vivian Suzano https://github.com/viviansuzano	Gustavo Lahr https://github.com/glahr
Leonardo dos Santos https://github.com/qleonardolp