Quadruped Robot Simulation and Inverse Kinematics

This repository contains ROS 2 packages for simulating and controlling a quadruped robot, including inverse kinematics, trajectory generation, and hardware integration.

🧭 Repository Structure

Branch	Description
main	Simulation of a single leg of the quadruped robot.
full_quad	Complete simulation of the full quadruped robot.
quad_hardware	Hardware integration of the quadruped robot using ros2_control on devices like Jetson Nano or Raspberry Pi.

📦 Packages

1. quad_description – URDF, Gazebo, and RViz setup for the robot.
2. ik – C++ implementation of analytical inverse kinematics for a leg.

🚀 Installation

cd ~/ros2_ws/src
git clone https://github.com/DJIITBH/Quadruped_ROS2.git
cd ~/ros2_ws
colcon build --packages-select quad_description ik
source install/setup.bash

for main branch :

# Launch Gazebo and ros2_control for single leg
ros2 launch quadruped_description gazebo.launch.py

# Run custom IK service
ros2 run ik ik

# Run trajectory planning and execution
ros2 run quadruped_description traj_bezier

# Visualize in RViz with joint GUI
ros2 launch quadruped_description display.launch.py

For full_quad branch :

git checkout full_quad
colcon build
source install/setup.bash

ros2 launch quadruped_description gazebo.launch.py
ros2 run ik ik
ros2 run quadruped_description traj_bezier
ros2 launch quadruped_description display.launch.py

🤖 Hardware Integration (quad_hardware branch) This branch deploys the robot on actual hardware (e.g., Jetson Nano, Raspberry Pi).

# Launch hardware interface (simulation time disabled)
ros2 launch quadruped_description hardware.launch.py

# Run trajectory planning and execution
ros2 run quadruped_description traj_bezier

# Launch LiDAR data publisher
ros2 launch sllidar_ros2 view_sllidar_a1_launch.py

# Launch joystick control
ros2 launch quadruped_description joystick.launch.py

📺 Demonstration Video

Watch the robot in action:
YouTube: Quadruped ROS2

📄 Documentation with References

The analytical inverse‐kinematics derivation and controller design are detailed here:
Drive – Full Paper PDF